船舶全局一致渐进路径跟踪变积分增益导航策略

Uniformly globally asymptotically stable path following with integral gain-variable guidance law for ships

中文关键词  路径跟踪  导航策略  视野线(LOS)  反演法  全局一致渐进稳定

英文关键词  path following  guidance law  line-of-sight(LOS)  backstepping  uniformly globally asymptotically stable (UGAS)

中文摘要

      本文利用一种新的导航策略和反馈控制器解决了欠驱动船舶受到外部扰动 作用下的保持直线运动问题. 与传统的视野线(line-of-sight, LOS)导航策略 相比, 改进的LOS导航策略具有变积分增益能够补偿外部环境扰动引起 的侧滑效应并且能够避免积分饱和影响, 其中积分增益是以垂直距离误差 为函数引导船舶灵活快速地趋向期望的轨迹. 本文所提出的积分导航策略 和基于积分器反演控制策略 组成一种串联结构的系统, 并且证明了当所有控制目标实现时整个系统 是全局一致渐进稳定的. 仿真结果说明了所提出内容的有效性和性能.

英文摘要

      This paper addresses the problem of straight-line path following for underactuated ships exposed to constant external force by utilizing a novel guidance law and dynamic feedback controller. Compared to the conventional line-of-sight (LOS), The modified LOS guidance law with variable integral gain is proposed to compensate for sideslip influence so as to copy with the environmental force and avoid integral windup as well, in which arguments and integral gain computed as a function of cross-track error. This guidance law can conduce the ships to converge to desired path in a elegant and faster manner. The proposed integral guidance law and the control strategy based on integrator backstepping technique make up a cascaded structure which is proved to be uniformly globally asymptotically stable (UGAS) when the target tasks are all achieved. Simulation results have demonstrated the effectiveness and capability of the proposed control and guidance scheme.