基于状态重构的欠驱动USV同步镇定与路径跟踪控制

2019 IEEE International Conference of Intelligent Applied Systems on Engineering (ICIASE) Pub Date : 2019-04-01 DOI:10.1109/ICIASE45644.2019.9074020

Jianzhang Hu, Guo-yuan Tang, Zengcheng Zhou, Ye Tian

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引用次数: 0

摘要

本文提出了一种基于状态重构方法的欠驱动无人潜航器路径跟踪和不动点镇定集成控制器。首先，设计了一个降阶状态观测器来估计无人潜航器的速度。在此基础上，提出了一种基于反步控制技术和李雅普诺夫稳定性理论的输出反馈控制算法。最后，仿真结果验证了所提控制器的可行性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Simultaneous Stabilization and Path-following Control of Underactuated USV Using State Reconstruction

This paper has proposed an integrated controller for both path-following and fixed point stabilization simultaneously for underactuated USV based on the method of state reconstruction. Firstly, a reduced-order state observer is designed to estimate the velocities of USV. Then, an output feedback control algorithm is developed on the basis of the backstepping technique and Lyapunov stability theory. Finally, Simulation results validate the feasibility of the proposed controller.

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2019 IEEE International Conference of Intelligent Applied Systems on Engineering (ICIASE)

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