非完全对称欠驱动无人艇全局渐近镇定控制

Global asymptotic stabilization control of incomplete symmetry underactuated USV

研究一类非完全对称欠驱动无人艇全局渐近镇定控制问题,基于级联系统理论和李雅普诺夫理论实现了全局渐近镇定控制.将无人艇系统模型进行两次全局微分同胚变换,得到非线性级联系统的形式,使原无人艇系统的镇定问题简化为级联系统的镇定问题;基于李雅普诺夫稳定性理论和级联系统理论设计了镇定控制器并分析了其稳定性,实现了非完全对称欠驱动无人艇的全局渐近镇定控制.仿真结果验证了所研究方法和设计控制器的有效性和可靠性.

The incomplete symmetrical underactuated USV (unmanned surface vehicle) was studied , and global asymptotic stabilization controller was designed based on cascade systems theory and Lya-punov theory .Global diffeomorphism transformation for the USV model was performed twice in order to obtain the form of nonlinear cascade systems ,so the stabilization problem of the original USV sys-tem was simplified to the stabilization of the cascade systems .The stabilization controller for cascade systems was designed based on Lyapunov theory while the stability was proved by cascade systems theory ,and the global asymptotic stabilization control of incomplete symmetrical underactuated USV was accomplished .Effectiveness and reliability of the research methods and the controller designed was verified by simulation results .