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本文利用一种新的导航策略和反馈控制器解决了欠驱动船舶受到外部扰动作用下的保持直线运动问题.与传统的视野线(line-of-sight,LOS)导航策略相比,改进的LOS导航策略具有变积分增益能够补偿外部环境扰动引起的侧滑效应并且能够避免积分饱和影响,其中积分增益是以垂直距离误差为函数引导船舶灵活快速地趋向期望的轨迹.本文所提出的积分导航策略和基于积分器反演控制策略组成一种串联结构的系统,并且证明了当所有控制目标实现时整个系统是全局一致渐进稳定的.仿真结果说明了所提出内容的有效性和性能.
In this paper, a new navigation strategy and feedback controller are used to solve the problem of maintaining linear motion under the external disturbance of under-driven ships.Compared with the traditional line-of-sight (LOS) navigation strategy, the improved LOS The navigation strategy has the variable integral gain to compensate the side-slip effect caused by external environment disturbance and avoid the influence of integral saturation, in which the integral gain guides the vessel to move towards the desired trajectory flexibly and quickly as a function of the vertical distance error.The integral navigation strategy And a system based on integrator inversion control strategy to construct a series structure, and proved that the whole system is globally and uniformly asymptotically stable when all the control objectives are achieved.The simulation results show the validity and performance of the proposed method.