摘要
研究海流等外界扰动环境下一类非对称欠驱动无人艇的路径跟踪问题,提出了一种自适应路径跟踪控制算法。首先,基于坐标变换解除控制输入与欠驱动运动自由度的耦合;其次,利用级联系统理论,分别设计了自适应位置误差控制律和艏向角误差控制律。其中,提出的自适应位置误差和期望艏向角控制律中前视距离和积分增益都是以位置误差为函数的时变量,自适应估计并补偿外界扰动造成的侧滑角,从而获得对位置误差的镇定。艏向角误差则利用动态反馈线性化比例微分控制方法,根据滤波后的连续平滑信号去镇定。最后,基于级联系统理论和李雅普诺夫理论证明了当所有控制目标实现时,控制系统为一致半全局指数稳定和一致全局渐进稳定的,理论分析和仿真实验说明了算法的有效性。
The path following control problem of the asymmetry underactuated unmanned surface vehicles(USV)under external disturbances such as current is discussed,and an adaptive path following control algorithm is proposed.Firstly,the control input and degree of freedom with underactuated movement are decoupled with the transformation of coordinates.Next,based on the cascade system theory,the position error adaptive control law and the course error control law are designed,among which the lookahead distance and integral gain are all computed as different functions of cross-track error to estimate and compensate the sideslip angle caused by external disturbances adaptively,so that the position error is calmed.The course error is designed based on the feedback linearization proportional-differential control,which is calmed according to the continuous smooth signal after filtering.Finally,based on the cascaded system and Lyapunov theories,the proposed control system is proved to be uniform semiglobal exponential stable and uniform globally asymptotic stable when the target tasks are all achieved.The theoretical analysis and simulation results show the effectiveness of the proposed method.
出处
《系统工程与电子技术》
EI
CSCD
北大核心
2018年第1期139-150,共12页
Systems Engineering and Electronics
关键词
欠驱动控制
无人艇
级联系统
自适应
路径跟踪
稳定性分析
underactuated control
unmanned surface vehicles(USV)
cascaded systems
adaptive
path following
stability analysis
