基于有限时间引导律的欠驱智能船舶循迹控制  

Finite-time line-of-sight guidance law path following control for underactuated intelligent ships

作　　者：冯辉[1,2] 胡胜[2] 余文曌 徐海祥[1,2] FENG Hui;HU Sheng;YU Wenzhao;XU Haixiang(Key Laboratory of High Performance Ship Technology,Ministry of Education,Wuhan 430063,China;School of Naval Architecture,Ocean and Energy Power Engineering,Wuhan University of Technology,Wuhan 430063,China)

机构地区：[1]高性能船舶技术教育部重点实验室,武汉430063 [2]武汉理工大学船海与能源动力工程学院,武汉430063

出　　处：《北京航空航天大学学报》2022年第3期394-400,共7页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国家自然科学基金(51879210,51979210);中央高校基本科研业务费专项资金(2019Ⅲ040,2019Ⅲ132CG)。

摘　　要：针对欠驱智能船舶在执行循迹任务时,受路径曲率和环境力干扰影响导致横向偏差增大的问题,对欠驱智能船舶的引导策略进行了研究。提出了一种有限时间收敛的自适应引导律,并基于该引导律实现了欠驱智能船舶循迹控制,使循迹过程中的横向偏差在有限时间内收敛至零。相比于传统积分引导律,所提方法的控制参数可以根据横向偏差的变化进行自适应调整,更快地引导欠驱智能船舶进行直线和曲线循迹。通过仿真对比验证了所提方法的有效性和先进性。In consideration of the problem that the lateral deviation of the underactuated intelligent ships increases due to the influence of path curvature and environmental disturbance during the path tracking task,the guidance law of intelligent ships is discussed.An adaptive guidance law with finite-time convergence is proposed.Based on the guidance law,the intelligent ships path following control is realized,so that the lateral deviation can converge to zero in finite time in the path following process.Compared with the traditional integral line-of-sight,the control parameters of the method can be adjusted adaptively according to the change of lateral deviation,and the intelligent ships can be guided to follow the desired line or curve path faster.The effectiveness and advancement of the proposed method are verified by simulation and comparison.

关 键 词：循迹控制 欠驱智能船舶 有限时间引导律 自适应控制 横向偏差 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]