| 欠驱动无人艇的全局时变反馈镇定控制 |
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| 引用本文： | 曾薄文,朱齐丹.欠驱动无人艇的全局时变反馈镇定控制[J].船舶工程,2012,34(2):50-52. |
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| 作者姓名： | 曾薄文 朱齐丹 |
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| 作者单位： | 哈尔滨工程大学自动化院,哈尔滨,150001 |
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| 基金项目： | 国家自然科学基金资助项目，黑龙江自然科学基金资助项目，中央高校基金 |
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| 摘 要： | 欠驱动水面船舶的镇定控制大多采用切换控制的方法,对该问题的研究普遍存在需要角速度持续激励的问题,时变控制可以有效解决该问题,但时变系统存在构造李雅普洛夫函数的困难,为此提出了一种时变状态变换,并基于反步法构造了该系统的李雅普洛夫函数,从而设计了一种全局时变反馈镇定控制器,取消了对初始条件角速度不能为零的约束。仿真结果验证了所提出方法的有效性。
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| 关 键 词： | 欠驱动船舶 全局镇定 时变反馈 反步法 |
| 收稿时间： | 9/26/2011 3:14:51 PM |
| 修稿时间： | 2012/3/14 0:00:00 |
Global Time-varing Feedback Stabilization of an Underactuated |
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| ZENG Bo-Wen
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ZHOU Qi-Dan.Global Time-varing Feedback Stabilization of an Underactuated[J].Ship Engineering,2012,34(2):50-52. |
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| Authors: | ZENG Bo-Wen ZHOU Qi-Dan |
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| Institution: | ZENG Bo-Wen;ZHOU Qi-Dan(College of Automation,Harbin Engineering University,Harbin 150001,China) |
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| Abstract: | The stabilization of an underactuated surface vessel is solved by switching control,which however involves the problem of persistent angular excitation.Time-varying control can solve the problem.But the Lyapunov function of time-varying system is rather difficult to construct.In this case,a new time-varying state transformation is proposed,and a time-varying Lyapunov function can be easily constructed based on backstepping approach.Then a global time-varying feedback stabilization controller is designed,which cancels the limitation of no zero for the angular in the initial condition.The simulation result verifies the validity of the proposed method. |
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| Keywords: | underactuated surface vessel global stabilization time-varying feedback backstepping |
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