欠驱动不对称船舶全局K指数镇定的解耦实现

Decoupling implementation of global K-exponential stabilization of underactuated non-symmetric surface vessel

研究一类欠驱动不对称船舶的全局K指数镇定问题,并且提出一种新的解耦控制方法.首先,对船舶系统进行全局微分同胚变换和状态时变变换,并将其解耦为线性子系统和线性时变子系统,从而将整个系统的镇定控制问题转化为两个简单子系统的镇定问题,简化了控制器的设计;然后,为每个子系统分别设计独立的全局时变指数镇定控制律,实现了欠驱动不对称船舶的全局K指数镇定;最后,仿真结果表明了所提出方法的有效性.

The stabilization problem of an underactuated non-symmetric surface vessel is considered,and a new decoupling method is proposed.Based on the global diffeomorphism and time-varying coordinate transformation,the ship dynamic system can be decoupled into two linear subsystems,and the isolated global exponential stabilizing controllers are designed. Then a global K-exponential stabilizing controller for the whole system is constructed for the ship in consideration.Finally, simulation results show the effectiveness of the proposed method.