| 船舶航迹跟踪的滑模控制 |
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| 引用本文： | 邢道奇,张良欣.船舶航迹跟踪的滑模控制[J].船舶,2011,22(5):10-14. |
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| 作者姓名： | 邢道奇 张良欣 |
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| 作者单位： | 海军工程大学后勤指挥与工程系 天津300450;海军工程大学后勤指挥与工程系 天津300450 |
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| 摘 要： | 为了解决船舶路径跟踪中的非线性问题,在建立船舶非线性模型的基础上,采用指数趋近律,设计了船舶轨迹跟踪的滑模控制器,分别进行了动态直线跟踪和环形跟踪仿真试验,仿真结果表明,船舶动态轨迹跟踪性能良好,能精确保持航迹。
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| 关 键 词： | 轨迹跟踪 滑模控制 非线性 |
Sliding-model control for trajectory tracking of surface vessels |
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| XING Dao-qi,ZHANG Liang-xin.Sliding-model control for trajectory tracking of surface vessels[J].Ship & Boat,2011,22(5):10-14. |
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| Authors: | XING Dao-qi ZHANG Liang-xin |
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| Institution: | XING Dao-qi ZHANG Liang-xin(Department of Logistics Command and Engineering,Naval Univ.of Engineering,Tianjin 300450,China) |
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| Abstract: | In order to solve the nonlinear problems in surface vessels trajectory tracking,the sliding-model controller of surface vessels trajectory tracking is designed based on the exponential reaching law as well as the nonlinear ship model,the simulations of dynamic straight-line tracking and circle tracking are proposed respectively.The simulation results indicate that the control performance of dynamic tracking is favorable and the method can accurately track trajectories. |
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| Keywords: | trajectory tracking sliding-model control nonlinearity |
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