欠驱动不对称船舶全局K指数镇定的解耦实现  

Decoupling implementation of global K-exponential stabilization of underactuated non-symmetric surface vessel

作　　者：于瑞亭[1] 朱齐丹[1] 刘志林[1] 王岩 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《控制与决策》2012年第5期781-786,共6页Control and Decision

基　　金：国家自然科学基金项目(50909026);黑龙江省自然科学基金项目(F200916);中央高效基本科研业务费项目(HEUCFR1116)

摘　　要：研究一类欠驱动不对称船舶的全局K指数镇定问题,并且提出一种新的解耦控制方法.首先,对船舶系统进行全局微分同胚变换和状态时变变换,并将其解耦为线性子系统和线性时变子系统,从而将整个系统的镇定控制问题转化为两个简单子系统的镇定问题,简化了控制器的设计;然后,为每个子系统分别设计独立的全局时变指数镇定控制律,实现了欠驱动不对称船舶的全局K指数镇定;最后,仿真结果表明了所提出方法的有效性.The stabilization problem of an underactuated non-symmetric surface vessel is considered,and a new decoupling method is proposed.Based on the global diffeomorphism and time-varying coordinate transformation,the ship dynamic system can be decoupled into two linear subsystems,and the isolated global exponential stabilizing controllers are designed. Then a global K-exponential stabilizing controller for the whole system is constructed for the ship in consideration.Finally, simulation results show the effectiveness of the proposed method.

关 键 词：欠驱动船舶 时变反馈 指数镇定 解耦控制 

分 类 号：U664[交通运输工程—船舶及航道工程]