摘要
研究一类非完全对称欠驱动无人艇的轨迹跟踪控制问题,考虑系统阻尼系数矩阵和惯性系数矩阵非对角线元素存在非零项,且阻尼系数随着航速变化的情况,首先通过两次全局微分同胚变换将系统矩阵变换为级联系统的形式,使控制模型得以简化;然后基于简化后的模型构建轨迹跟踪误差模型,将轨迹跟踪问题转化为误差的镇定问题,同时基于级联系统理论和Lyapunov直接法设计了误差镇定控制器,该控制器能够实现非完全对称欠驱动高速无人艇的任意参考轨迹的跟踪控制,包括原点的镇定控制。最后通过仿真实验验证了所设计控制器的有效性。
A class of trajectory tracking control of incomplete symmetry underactuated USV was discussed,considering the non diagonal elements of damping coefficient matrix and inertia coefficient matrix are non-zero,and the damping coefficient varys with the speed.Firstly,the system matrix of USV was transformed into cascade systems through two global diffeomorphism transformations,and then the control model was simplified.Secondly,the trajectory tracking error model of USV was obtained based on the simplified model,and then the trajectory tracking problem was transformed into the stabilization problem of the error.Thirdly,the error stabilization controller was designed based on cascade system theory and Lyapunov direct method.Theoretical analysis shows that the controller for incomplete symmetry underactuated USV is able to achieve the tracking control of arbitrary reference trajectory,including stabilization of origin,at high speed.Finally,the simulation results show the effectiveness of the designed controller.
出处
《电机与控制学报》
EI
CSCD
北大核心
2014年第10期95-103,共9页
Electric Machines and Control
基金
国家高技术研究发展计划(863)(2014AA09A509)
中国博士后科学基金(2013M540271)
关键词
非完全对称
高速无人艇
轨迹跟踪
欠驱动控制
全局微分同胚变换
级联系统
incomplete symmetry
USV at high speed
trajectory tracking
underactuated control
global diffeomorphism transformation
cascade systems
