欠驱动水面船舶运动控制研究综述

Survey for motion control of underactuated surface vessels

针对欠驱动水面船舶运动控制的发展状况,将其归类为镇定控制、航迹跟踪和编队控制3个专题.从σ-变换法、齐次法、反步法、自动靠泊控制等方面剖析了镇定控制专题;从输出反馈、状态反馈、输出重定义、级联方法、船舶运动数学模型等方面剖析了航迹跟踪专题中的轨迹跟踪和路径跟踪问题;从行为控制方法、引导者跟随方法、虚拟结构方法等方面剖析了编队控制专题.最后,对该领域的进一步研究方向作了几点展望.

According to the development of motion control of underactuated surface vessels （USV） in recent years, the domain is classified into three special topics, stabilization control （SC）, trajectory tracking （TT） /path following （PF） and formation control （FC）. Topic SC is taken apart from σ-transformation, homogeneity, backstepping and berthing control. Topics TT and PF are taken apart from output-feedback, state-feedback, output-redefined, cascade design and precision of USV＇s mathematical models. Topic FC is taken apart from behavior-based, leader-follower and virtual structure approaches. Finally, further research perspectives of USV are presented in detail.