存在饱和输入量的欠驱动船舶编队控制  

Formation control of underactuated ships with input saturation

作　　者：秦梓荷 林壮[1] 李平[1] 刘阿丽[1] 

机构地区：[1]哈尔滨工程大学船舶工程学院,黑龙江哈尔滨150001

出　　处：《华中科技大学学报（自然科学版）》2015年第8期75-78,共4页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(61004008)

摘　　要：研究了常规欠驱动船舶编队路径跟踪的一致性控制问题,设计了一个分散式控制器.结合反步法、虚拟结构法及李雅普诺夫理论,使设计的控制器不仅形式简单,而且具有良好的稳定性和全局收敛性,能有效实现欠驱动状态下船舶横向速度及位移的快速镇定.在此基础上引入一致性控制的思想,解决在输入量饱和情况下编队队形失效的问题,达到协调各船保持期望队形的目的.通过三艘船的仿真,对所设计控制器的正确性及有效性进行了验证.Consensus control problem of conventional underactuated ship formation path‐following was investigated ,and a decentralized controller was designed .By combining the backstepping technique , virtual structure and Lyapunov method ,the contruer is simple in form but with well stability and global convergence ,achieving the rapid stabilization of sw ay velocity and displacement for underactu‐ated ship effectively .Based on this ,by introducing the idea of consensus control ,the formation failure under input saturation was solved ,and the goal of coordinating each ship to maintain expected forma‐tion was achieved .The simulations of three ships′formation show the correctness and effectiveness of proposed controller .

关 键 词：欠驱动船舶 编队控制 路径跟踪 虚拟结构 一致性 反步法 

分 类 号：U66[交通运输工程—船舶及航道工程]