欠驱动船舶全局K指数航迹跟踪的级联反步法

Cascaded Backstepping Approach for Global K-exponential Tracking Control of an Underactuated Surface Vessel

研究一类欠驱动船舶的全局航迹跟踪问题。首先对船舶动态系统和期望动态系统分别进行全局微分同胚变换,得到航迹跟踪的误差动态方程,由此将航迹跟踪问题转化为误差动态系统的镇定问题,然后利用级联系统理论将误差动态方程的镇定问题分解为两个独立子系统的镇定问题。通过分别为子系统设计全局指数稳定控制律实现了欠驱动船舶的全局K指数航迹跟踪。仿真结果验证了所提方法的有效性。

The paper ＆ to study a kind of global tracking control problem of the underactuated surface vessel. First, a cascaded approach is applied for the global transformed error dynamic system to subdivide the global tracking control problem into a stabilization problem of two isolated subsystems with a control input each. Then the backstepping method is applied to construct a global exponential stabilizing controller for one of the two subsystems, while an exponential stabilizing controller is easily constructed for the other linear system. Finally, a global K-exponential tracking controller is presented for the considered vessel with only two controls. Simulation results proves the effectiveness of the proposed scheme.