| 减执行器水面舰船系统的光滑时变指数全局镇定 |
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| 引用本文： | 李世华,田玉平.减执行器水面舰船系统的光滑时变指数全局镇定[J].东南大学学报(自然科学版),2001,31(1):29-34. |
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| 作者姓名： | 李世华 田玉平 |
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| 作者单位： | 东南大学自动控制系, 南京 210096 |
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| 基金项目： | 国家自然科学基金资助项目!(6 99740 0 9)，国家攀登计划预选项目!(970 2 110 17) |
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| 摘 要： | 已知减执行器水面舰船系统不能由连续时不变反馈控制律镇定。本文对减执行器水面舰船系统提出一种具有指数收敛率的光滑时变反馈控制律，使得闭环系统被全局镇定。该方法反馈控制律设计简单，并且所有状态的收敛率可以事先确定。与其它同类方法的比较以及仿真例子说明了该方法的有效性。
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| 关 键 词： | 水面舰船 全局镇定 光滑时变反馈 指数收敛 减执行器系统 |
| 文章编号： | 1001-0505(2001)01-0029-06 |
Global Smooth Exponential Stabilization of an Underactuated Autonomous Surface Vessel |
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| Li Shihua,Tian Yuping.Global Smooth Exponential Stabilization of an Underactuated Autonomous Surface Vessel[J].Journal of Southeast University(Natural Science Edition),2001,31(1):29-34. |
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| Authors: | Li Shihua Tian Yuping |
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| Abstract: | The paper studies the problem of controlling the planar position and orientation of an autonomous surface vessel using two independent thrusters. It is shown that although the system is not asymptotically stabilizable to a given configuration using a smooth time invariant feedback, it can be globally exponentially stabilized by a smooth time varying feedback law. Moreover, the exponential convergent rate of states can be determined in advance. Comparison with other methods and a simulation example demonstrate the efficiency of the proposed method. |
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| Keywords: | surface vessel global stabilization smooth time varying feedback exponential convergence |
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