| 带不确定动态的欠驱动水面船舶鲁棒自适应路径跟踪控制(英文) |
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| 引用本文： | 孟威,郭晨,刘杨.带不确定动态的欠驱动水面船舶鲁棒自适应路径跟踪控制(英文)[J].船舶与海洋工程学报,2012,11(2):244-250. |
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| 作者姓名： | 孟威 郭晨 刘杨 |
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| 作者单位： | School of Information Science and Technology,Dalian Maritime University;School of Electronic and Information Engineering,Dalian Jiaotong University |
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| 基金项目： | Supported by the National Natural Science Foundation of China (Grant No. 61074053);the Applied Basic Research Program of Ministry of Transport of China (Grant No. 2011-329-225-390) |
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| 摘 要： | A robust adaptive control strategy was developed to force an underactuated surface vessel to follow a reference path,despite the presence of uncertain parameters and unstructured uncertainties including exogenous disturbances and measurement noise.The reference path can be a curve or a straight line.The proposed controller was designed by using Lyapunov’s direct method and sliding mode control and backstepping techniques.Because the sway axis of the vessel was not directly actuated,two sliding surfaces were introduced,the first one in terms of the surge motion tracking errors and the second one for the yaw motion tracking errors.The adaptive control law guaranteed the uniform ultimate boundedness of the tracking errors.Numerical simulation results were provided to validate the effectiveness of the proposed controller for path following of underactuated surface vessels.
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| 关 键 词： | underactuated surface vessels path following uncertain parameters robustness adaptive control |
Robust adaptive path following for underactuated surface vessels with uncertain dynamics |
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| Wei Meng,Chen Guo,Yang Liu.Robust adaptive path following for underactuated surface vessels with uncertain dynamics[J].Journal of Marine Science and Application,2012,11(2):244-250. |
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| Authors: | Wei Meng Chen Guo Yang Liu |
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| Institution: | 1,2 1.School of Information Science and Technology,Dalian Maritime University,Dalian 116026,China 2.School of Electronic and Information Engineering,Dalian Jiaotong University,Dalian 116028,China |
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| Abstract: | A robust adaptive control strategy was developed to force an underactuated surface vessel to follow a reference path,despite the presence of uncertain parameters and unstructured uncertainties including exogenous disturbances and measurement noise.The reference path can be a curve or a straight line.The proposed controller was designed by using Lyapunov’s direct method and sliding mode control and backstepping techniques.Because the sway axis of the vessel was not directly actuated,two sliding surfaces were introduced,the first one in terms of the surge motion tracking errors and the second one for the yaw motion tracking errors.The adaptive control law guaranteed the uniform ultimate boundedness of the tracking errors.Numerical simulation results were provided to validate the effectiveness of the proposed controller for path following of underactuated surface vessels. |
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| Keywords: | underactuated surface vessels path following uncertain parameters robustness adaptive control |
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