A Study of Stability of Straight-line Tracking Control System for Underactuated Ship
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摘要: 基于输入输出线性化的技术, 针对不完全驱动水面船舶直线航迹控制系统的非线性数学模型, 给出了一种重定义输出变量和采用该输出变量的状态反馈控制律. 文中基于Lyapunov直接法, 得到了保证系统全局渐近稳定的充分条件. 数值仿真和模拟试验结果证明了该充分条件的正确性.
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关键词:
- Lyapunov函数 /
- 重定义输出变量 /
- 输入输出线性化 /
- 船舶航迹控制
Abstract: Based on the input-output linearization technique, a class of redefinition output variables are presented for the ship's straight-line tracking control system. At the same time, the state feedback control law is developed. In this paper, the sufficient conditions for global asymptotical stability are given by means of Lyapunov's direct method. The results of numerical simulation and experiments on a simulator show the validity of the sufficient conditions. -
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