带侧滑角补偿的气垫船路径跟踪LOS导引算法  

Line-of-sight guidance law for path following of hovercrafts with sideslip compensation

作　　者：王元慧 佟海艳 WANG Yuanhui;TONG Haiyan(College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China;School of Automation, Harbin University of Science and Technology, Harbin 150080, China)

机构地区：[1]哈尔滨工程大学智能科学与工程学院,黑龙江哈尔滨150001 [2]哈尔滨理工大学自动化学院黑龙江,哈尔滨150080

出　　处：《哈尔滨工程大学学报》2021年第6期851-858,共8页Journal of Harbin Engineering University

基　　金：国家留学基金项目(CSC201906680026);国家自然科学基金项目(51879049);黑龙江省自然科学基金项目(LH2019E039).

摘　　要：针对全垫升气垫船在未知侧漂力下的路径跟踪导引问题,本文提出一种带有时变大侧滑角补偿的自适应Line-of-sight(LOS)导引算法以提高导引精度。采用一种基于三次样条差值法的航路点路径生成算法生成一般曲线路径,设计了一种基于预测跟踪误差的时变大侧滑角估计器,通过引入侧滑角参数设计基于预测器的时变大侧滑角补偿自适应LOS导引算法,并通过级联系统稳定性理论和输入状态稳定性理论证明了导引系统中所有误差信号均具有有界性;以某全垫升气垫船为例,通过仿真实验验证了算法的有效性和优越性。For path following the guidance of hovercrafts with an unknown side drift force,this paper proposes an adaptive line-of-sight(ALOS)guidance algorithm with time-varying and large sideslip compensation to improve the hovercraft′s path-following accuracy resulting from a large sideslip angle.First,a curve path generation algorithm based on the cubic spline difference method is used to generate the general curve path.A time-varying large sideslip angle estimator based on predictive tracking error is then designed.By introducing the sideslip angle parameter,the time-varying large sideslip angle compensation ALOS guidance algorithm based on the predictor is designed.The results showed that all error signals in the guidance system are bounded by the cascade system stability theory and input state stability theory.Finally,the effectiveness and superiority of the proposed algorithm are verified via a simulation experiment of a hovercraft.

关 键 词：全垫升气垫船 路径跟踪 LOS导引 侧滑角补偿 预测器 自适应 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]