基于反步法的欠驱动船舶镇定控制  

Stabilization of Underactuated Surface Vessel Based on Backstepping

作　　者：丁福光[1] 吴静[1] 隋玉峰[1] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《计算机仿真》2013年第10期377-381,共5页Computer Simulation

摘　　要：研究船舶航行稳定性控制问题。为了解决欠驱动水面船舶运动镇定控制稳定航行问题,首先在合理的假设下,将欠驱动船舶系统进行适当的简化,然后进行微分同胚变换,给出了使系统全局稳定的三个条件,并且证明了存在的条件正确性。将系统变换成两个串联的三阶链式系统和一阶微分系统,将原系统的镇定问题转化为新系统的镇定问题,提出了基于反步法和利用Lyapunov直接法构造镇定函数设计的控制器,能使系统全局渐近稳定。经仿真验证了控制器的有效性,能将船舶系统镇定到原点。In order to cope with stabilization control of the underactuated ship, the ship model was rationally sim- plified firstly. Using diffeomorphism transformation, we transformed the simplified system into two series systems： one is a third - order chained system, and another is one - order differential system. Three conditions can make the system global stability and prove the correctness of existing conditions. So the original stabilization problem can be changed into an equal new one, and backstepping method and Lyapunov direct stability were used to construct the controller of the stabilization function. The controller has global asymptotic stability. The simulation results show that the controller is effective and can keep the underactuated ship to the origin.

关 键 词：反步法 欠驱动 链式系统 镇定 

分 类 号：U661.33[交通运输工程—船舶及航道工程]