欠驱动不对称水面船舶输出反馈镇定控制

研究了一类欠驱动不对称船舶的全局一致渐近输出反馈镇定控制问题。该船舶横向上未装备驱动装置,加速度带有不可积的非完整约束条件,并且惯性参数矩阵和阻尼参数矩阵中的非对角线元素允许存在非零项。由于欠驱动船舶的速度和角速度不易测量,设计了高增益观测器估计速度状态变量。通过对系统进行坐标变换,并结合高增益观测器,根据分离原则设计了欠驱动不对称船舶的全局时变光滑输出反馈镇定律,仿真结果验证了所提方法的有效性。

Output feedback stabilizing control of underactuated nonsymmetry surface vessels

In this work, the authors first solve the output feedback stabilization problem of underactuated surface vessels with nonzero off-diagonal terms. The ships under consideration are not actuated in the sway direction, and the mass and damping matrices are not assumed to be diagonal, as often required in the literature. In order to overcome the difficulties of measuring the linear and angular velocities of an underactuated surface vessel, a high-gain observer is proposed to estimate the linear and angular velocities. In terms of separation principle, coordinate changes and a high-gain observer are combined to design global time-varying smooth output feedback stabilization control law. Simulation results demonstrate the effectiveness of the suggested approach.