摘要
针对喷水推进型无人艇航向非线性系统的控制问题,考虑到模型摄动和环境干扰力等不确定性的影响。借鉴鲁棒补偿器思想,对基本S面控制方法进行改进,提出一种鲁棒S面控制方法。利用Lyapunov稳定性理论,证明该控制方法保证了航向控制系统的鲁棒稳定性。仿真对比结果验证了所提出控制方法的有效性。
The course nonlinear control problem of the unmanned surface vehicle(USV) with water-jet-propelled was addressed,and considering the influence of model perturbation and environmental disturbances.A robust S surface control law was developed by introducing a robust compensator into the S surface control method.By means of Lyapunov function,it is proven that the proposed control law can render the course control system robust stable.Simulations results illustrate the effectiveness of the proposed method.
出处
《中南大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2013年第S1期152-156,共5页
Journal of Central South University:Science and Technology
基金
中央高校基本科研业务费专项资金资助项目(HEUCF1321003,13CX02049A)
关键词
无人艇
航向控制
鲁棒控制
S面控制
喷水推进
unmanned surface vehicle
course control
robust control
S surface control
water-jet-propelled
