Virtual Guide Control for Underactuated Surface Ships
To solve the stabilization problems of underactuated surface ships with nonintegrablc acceleration constraint, a novel virtual guide control algorithm is presented. The control method is both descriptive and constructive. By introducing an autonomic virtual system, the nonholonomic stabilization can be transformed into control problems of holonomic and full actuated subsystems. Using decoupling control method and iterative nonlinear sliding mode designing approach integrated with simple increment feedback control laws, a dynamic control strategy is developed to fulfill the underactuated stabilization objectives. 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 Virtual guide Control Sliding Mode Control
Renxiang Bu Yunfeng Zheng
Navigation college Dalian Maritime University Dalian, China
国际会议
厦门
英文
838-842
2010-10-29（万方平台首次上网日期，不代表论文的发表时间）