控制与决策
控製與決策
공제여결책
CONTROL AND DECISION
2013年
6期
920-924
,共5页
半全局一致指数稳定%观测控制器%轨迹跟踪%非线性操纵性模型
半全跼一緻指數穩定%觀測控製器%軌跡跟蹤%非線性操縱性模型
반전국일치지수은정%관측공제기%궤적근종%비선성조종성모형
semi-global uniform exponential stability%observer-controller%trajectory tracking%nonlinear maneuvering model
针对仅位置和艏向可测量的动力定位船舶非线性输出反馈轨迹跟踪问题,在大地坐标系中,建立同时包含科里奥力向心力和非线性阻尼的非线性船舶操纵性模型.基于一种具有半全局一致指数稳定性的非线性观测器,提出船舶轨迹跟踪非线性 Backstepping 观测控制器,并应用 Lyapunov 方法证明该观测控制器具有半全局一致指数稳定性.理论分析和仿真结果均表明,通过调整控制器增益,系统误差指数收敛到零.
針對僅位置和艏嚮可測量的動力定位船舶非線性輸齣反饋軌跡跟蹤問題,在大地坐標繫中,建立同時包含科裏奧力嚮心力和非線性阻尼的非線性船舶操縱性模型.基于一種具有半全跼一緻指數穩定性的非線性觀測器,提齣船舶軌跡跟蹤非線性 Backstepping 觀測控製器,併應用 Lyapunov 方法證明該觀測控製器具有半全跼一緻指數穩定性.理論分析和倣真結果均錶明,通過調整控製器增益,繫統誤差指數收斂到零.
침대부위치화수향가측량적동력정위선박비선성수출반궤궤적근종문제,재대지좌표계중,건립동시포함과리오력향심력화비선성조니적비선성선박조종성모형.기우일충구유반전국일치지수은정성적비선성관측기,제출선박궤적근종비선성 Backstepping 관측공제기,병응용 Lyapunov 방법증명해관측공제기구유반전국일치지수은정성.이론분석화방진결과균표명,통과조정공제기증익,계통오차지수수렴도령.
@@@@A nonlinear output feedback trajectory tracking control of dynamic positioning ships with only position and orientation measurements is considered in this paper. In the earth-fixed frame, both of Coriolis and centripetal forces and nonlinear damping are taken into account in ship maneuvering modeling, a nonlinear backstepping observer-controller with semi-global uniform exponential stability is proposed, and the stability is proved by using Lyapunov method. Both of the theoretical analysis and the simulation results show that the system errors converge to zero by tuning controller gains.
