不完全驱动船舶航迹控制输入输出线性化设计

Input-output linearization designs for straight-line tracking control of underactuated ships

针对船舶航迹保持控制系统模型中存在的非线性 ,建立了不完全驱动水面船舶直线航迹控制系统的非线性数学模型 ;基于输入输出线性化技术 ,采用重定义输出变量思想 ,提出了一种状态反馈控制律。该控制律克服了转首角速度不能为零及重定义输出变量中组成元素的收敛性不能保证的局限 ,使得偏航船舶能够渐近镇定于直线参考航迹 ,并以实习船为例 ,利用MatlabSimulink工具箱进行了计算机仿真研究 ,并对所提出的控制器进行了验证。结果表明 ,所提出的控制器具有比较理想的控制效果和良好的瞬态性能。

A nonlinear mathematical model for straight-line tracking control system of underactuated ships is established. Then, based on the input-output linearization technique, a state feedback control law, which forces an underactuated ship to asymptotically track a prescribed straight line, is developed using the idea of redefinition output variable. Meanwhile, the proposed control law can remove the constraints that the yaw rate is required to be nonzero and the convergence of the components in the redefinition output variable is not guaranteed. Numerical simulation results on an ocean-going training ship are presented to validate the proposed controller. It is shown that the proposed controller exhibits relatively high effectiveness and good transient performance.