基于耗散理论的不完全驱动船舶直线航迹控制设计

将严格耗散的概念引入到船舶直线航迹控制系统中,研究了不完全驱动船舶在有外界干扰作用下的直线航迹鲁棒控制问题.基于耗散不等式,提出了一种鲁棒全局状态反馈控制器,使得所得闭环系统是严格耗散且全局渐近稳定的.同时,在有外界干扰作用下,该控制算法能够使得不完全驱动船舶全局最终镇定在一条设定直线上;当没有外界干扰时,又能够使得系统的状态(即横向位移、航向角和转首角速度)全局渐近稳定.计算机仿真结果验证了本文所提出的控制器的有效性.

A Robust Design Based on the Dissipation Theory for the Linear-Course Trajectory Control of Underactuated Ships

The idea of strict dissipation is introduced into the straight-line tracking control system for underactuated ships. The robust dissipative control for the system with bounded exogenous disturbances is studied. Based on the dissipative inequality, a globally robust state feedback controller is developed so that the (resulting) closed-loop system is both strictly dissipative and asymptotically stable. Furthermore, the proposed (algorithm) is able to enable an underactuated ship to be globally and ultimately stabilized on a prescribed (straight) line under external disturbances. Numerical simulation results are presented to validate the effectiveness and transient performance of the proposed controller.