基于动态执行机构的船舶循迹反步积分控制（英文）

Modified Backstepping Controller for Path Following of Marine Crafts with Actuator Dynamics

文章针对连续曲率路径,用一种简单的几何方法生成连续曲率的路径。基于该几何方法生成的连续路径,文中利用line-of-sight(LOS)引导律解决了循迹控制中横向偏差最小的问题。为了减弱控制输出的振荡和获得平滑的控制输出,一种基于动态执行机构的改进反步积分控制器在过驱动船舶循迹控制中得到了应用。值得注意的是,文中用积分操作来抵抗风浪流环境力。数值分析结果展示了该控制器的有效性。

A simple geometric method for generating curvature-continuous paths in a plan is pre-sented. Based on the curvature-continuous paths, a line-of-sight （LOS） guidance law is utilized to minimize the cross-track error. To attenuate the oscillation of the control signal and obtain smooth control outputs, a modified backstepping controller with actuator dynamics is proposed for path fol-lowing of overactuated marine crafts. It is worth mentioning that an integral action is added to adapt the slow-varying environmental forces of wind, wave and current forces. Numerical simulations demon-strate the validity of the proposed controller.