Lyapunov稳定性分析在欠驱动船舶路径跟踪的应用  

Application of lyapunov stability analysis in under actuation ship path tracking

作　　者：夏云青 XIA Yun-qing(School of Basic Science,Zhengzhou University of Technology,Zhengzhou 450044,China)

机构地区：[1]郑州工程技术学院基础科学学院,河南郑州450044

出　　处：《舰船科学技术》2023年第16期137-140,共4页Ship Science and Technology

摘　　要：欠驱动船舶系统的非线性位置控制,因为建模参数控制的不确定性,对于欠驱动运动方程中的某些变量并不能很好的控制。为此,本文基于Lyapunov稳定性原理,对欠驱动控制方法的应用展开探讨,通过对其多特征值、轨迹跟踪和位置控制问题进行研究,提出一种多特征自适应融合的算法。同时通过借助视频目标跟踪自适应融合的方式,能够提高欠驱动船舶路径跟踪的精确性。The nonlinear position control of underactuated ship system,because of the uncertainty of modeling parameter control,can not control some variables in the underactuated motion equation well.In order to accomplish this task,based on Lyapunov stability principle,this paper discusses the application of underactuated control method,and proposes a multi-feature adaptive fusion algorithm by studying its multi-feature value,trajectory tracking and position control problems.At the same time,the accuracy of underactuated ship path tracking can be improved by means of adaptive fusion of video target tracking.

关 键 词：Lyapunov稳定性分析 欠驱动船舶 路径跟踪 

分 类 号：U675.6[交通运输工程—船舶及航道工程]