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Course-keeping control of underactuated hovercraft
引用本文:HANBing ZHAOGuo-liang. Course-keeping control of underactuated hovercraft[J]. 船舶与海洋工程学报, 2004, 3(1): 24-27. DOI: 10.1007/BF02918642
作者姓名:HANBing ZHAOGuo-liang
作者单位:SchoolofAutomation,HarbinEngineeringUniversity,Harbin150001,China
摘    要:The course-keeping control of underactuated hovercraft with two aft propellers was considered. The control of the heading error and cross-track error was accomplished by the yaw torque merely in this case. The hovercraft dynamic model is nonlinear and underactuated. At first the Controllability of course-keeping control for hovercraft was proved, then a course-keeping control law was derived that keeps hovercraft heading constant as well as minimizes the lateral movement of hovercraft. The proposed law guarantees heading error and sway error all converge to zero exponentially. Simulation tests were carried out to illustrate the effectiveness of the proposed control law. For further research, the disturbance influence would be considered in the dynamic equations.

关 键 词:气垫船 非线性反馈控制 级数收敛 过程控制 数值模拟

Course-keeping control of underactuated hovercraft
Han Bing,Zhao Guo-liang. Course-keeping control of underactuated hovercraft[J]. Journal of Marine Science and Application, 2004, 3(1): 24-27. DOI: 10.1007/BF02918642
Authors:Han Bing  Zhao Guo-liang
Affiliation:(1) School of Automation, Harbin Engineering University, 150001 Harbin, China
Abstract:The course-keeping control of underactuated hovercraft with two aft propellers was considered. The control of the heading error and cross-track error was accomplished by the yaw torque merely in this case. The hovercraft dynamic model is nonlinear and underactuated. At first the Controllability of course-keeping control for hovercraft was proved, then a course-keeping control law was derived that keeps hovercraft heading constant as well as minimizes the lateral movement of hovercraft. The proposed law guarantees heading error and sway error all converge to zero exponentially. Simulation tests were carried out to illustrate the effectiveness of the proposed control law. For further research, the disturbance influence would be considered in the dynamic equations.
Keywords:hovercraft  underactuated  course-keeping  exponential convergence
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