论文部分内容阅读
研究了欠驱动对称船舶以及欠驱动非对称船舶的镇定控制.首先,存在一个自然的坐标变换可以将整个动态系统转换为一个串联的非线性系统.其次,这样使得问题简化为了一个对三阶链式系统的镇定控制.一个时不变的非连续的反馈控制法能够使得系统全局一致渐进稳定到期望值.这样一个控制器是基于反步设计方法设计的.最后,仿真结果显示了该方法的有效性.“,”The stabilization problems of an underactuated symmetric surface vessel and underactuated non-symmetric surface vessel are considered. Firstly, there exists a natural change of coordinates that transforms the whole dynamical system into a cascade nonlinear system. Secondly, the control problem of the resulting system can be reduced to the stabilization of a third-order chained form. A time-invariant discontinuous feedback law is derived to guarantee global uniform asymptotic stabilization of the system to the desired configuration. The construction of such a controller is based on the backstepping design approach. Finally, simulation results show the effectiveness of the proposed method.