CAJ | 학술논문

针对具有二阶非完整约束特性的常规水面船舶，进行航迹跟踪控制设计。利用基于动态非线性滑模分解迭代设计的增量反馈控制方法，在船舶有一定进速的条件下仅利用舵设备即可完成欠驱动船舶的路径跟踪。该算法无需对不确定模型的参数或风、流干扰进行估计，并解除了要求参考航向已知和角速度持续激励的限制条件，能够同时进行直线和曲线的航迹跟踪。对“育龙”轮的非线性水动力模型仿真结果表明，控制器对系统参数摄动及外界干扰不敏感，具有强的鲁棒性。
침대구유이계비완정약속특성적상규수면선박，진행항적근종공제설계。이용기우동태비선성활모분해질대설계적증량반궤공제방법，재선박유일정진속적조건하부이용타설비즉가완성흠구동선박적로경근종。해산법무수대불학정모형적삼수혹풍、류간우진행고계，병해제료요구삼고항향이지화각속도지속격려적한제조건，능구동시진행직선화곡선적항적근종。대“육룡”륜적비선성수동력모형방진결과표명，공제기대계통삼수섭동급외계간우불민감，구유강적로봉성。
The path following control problem was concerned for conventional surface ships with second order nonholonomic constraints.An feedback algorithm was presented by using in-crement feedback control method based on dynamic nonlinear sliding mode.Without estimation of systemic uncertainty and disturbances , the underactuated path following control objec-tive could be achieved by single input of rudder angle when the ship was proceeding at a forward speed .The known refer-ence orientation and the yaw velocity PE ( persistent excita-tion) conditions were not required , so the controller can also be used for way points tracking .Computer simulation on a full nonlinear hydrodynamic ship model of M .V.YULONG show the effectiveness and robustness of the proposed controller .