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首页> 外文期刊>IEEE Transactions on Automatic Control >New cascade approach for global κ-exponential tracking of underactuated ships
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New cascade approach for global κ-exponential tracking of underactuated ships

机译：欠驱动船舶全局κ指数跟踪的新级联方法

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摘要

This note investigates the fast tracking control problem of underactuated ships via persistent excitation (PE) conditions. By combining a novel transformation with the computed torque method, a decoupling controller related to the surge force is given first to decompose the error model into two cascade subsystems. Then, a stabilizing controller involving the yaw moment is designed. With the help of the proposed cascaded structure, a weaker PE condition than those given in past literature can be used to verify an integral detectability and guarantee global κ-exponential convergence by employing several newly developed stability criteria. A new feature of the obtained results is that only one of these reference signals is needed to satisfy the usual PE condition. Simulation results are provided to validate the effectiveness of the proposed scheme.
机译：本说明研究了持续激励（PE）条件下欠驱动船舶的快速跟踪控制问题。通过将新颖的变换与计算转矩方法相结合，首先给出与喘振力相关的解耦控制器，以将误差模型分解为两个级联子系统。然后，设计了一个带有偏航力矩的稳定控制器。借助提出的级联结构，可以使用比过去文献中给出的条件更弱的PE条件来验证整体可检测性，并通过采用一些新开发的稳定性标准来保证全局κ指数收敛。获得的结果的一个新特征是，仅需要这些参考信号之一即可满足通常的PE条件。仿真结果证明了所提方案的有效性。

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