欠驱动水面机器人变周期全局渐近镇定控制

Global asymptotic stabilization control with variable periods for underactuated surface vessels

中文关键词  欠驱动水面机器人  变周期控制  全局稳定  渐近稳定

英文关键词  Underactuated surface vessels  variable periods  global stability  asymptotic stability

中文摘要

      为了实现欠驱动水面机器人的全局渐近镇定, 首先借助微分同胚变换, 将欠驱动水面机器人的镇定问题转化成对由两个串级子系统构成的二阶欠驱动系统的镇定问题. 针对转换后的系统, 本文提出一种光滑的变周期控制方法, 以实现对该系统的全局渐近镇定. 与已有文献中控制律使用常数周期的方法相比, 本文方法根据系统状态实时调整控制律周期, 从而提高系统在原点附近的收敛速率. 随后, 基于上述方法, 给出了水面机器人变周期控制算法, 实现原系统的全局渐近镇定. 最后, 仿真对比结果验证所提变周期控制方法的有效性.

英文摘要

      This paper investigates the problem of global asymptotic stabilization of the underactuated surface vessel. By introducing a diffeomorphism transformation, the stabilization of the underactuated surface vessel is converted into the stabilization of the second order underactuated system consisting of two cascade connected subsystems. For the transformed system, a smooth control method with variable periods is presented to ensure the global asymptotic convergence. Compared with the methods using constant periods in previous works, this method improves the convergence rate of the system near the origin by adjusting the periods based on the system states in real time. Then, on this basis, a control algorithm with variable periods for underactuated surface vessels is presented to globally asymptotically stabilize the original system. At last, simulations are given to demonstrate the effectiveness of the presented method.