Path Following and Stabilization of Underactuated Surface Ships
To solve the path following and stabilization problems for underactuated surface ships with nonintegrable acceleration constraint, a nonlinear feedback algorithm is presented using decoupling control method and iterative nonlinear sliding mode designing approach. The saturations on actuators and unknown environmental disturbances are also explicitly considered. Integrating with simple increment feedback control laws, a dynamic control strategy is developed to fulfill the underactuated following and stabilization objectives with only surge force and yaw movement available. Numerical simulation results on a full nonlinear hydrodynamic model of a training ship are presented to validate the effectiveness and robustness of the proposed controller.
Nonholonomic System Underactuated Ships Decoupling Control Sliding Mode Control
Renxiang Bu Zhengjiang Liu Jiangqiang Hu Jianchuan Yin
Navigation College, Dalian Maritime University, Dalian 116026
国际会议
2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)
广西桂林
英文
262-267
2009-06-17（万方平台首次上网日期，不代表论文的发表时间）