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首页> 外文期刊>JOURNAL OF MARINE SCIENCE AND APPLICATION >The stabilization control of underactuated surface vessels
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The stabilization control of underactuated surface vessels

机译：欠驱动水面舰艇的稳定控制

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摘要

The problem of stabilization control of underactuated surface vessels with two independent control inputs is investigated in this paper. Through transformation, a cascade properly of the system is revealed. And the original nonlinear system could be divided into two subsystems; a linear subsystem and a nonlinear subsystem. The stabilization laws are derived for the two subsystems separately. A smooth time - varying feedback stabilization law with exponentially convergence rate is obtained. The proposed stabilization law guarantees all the system states converge to the equilibrium exponentially. The aim of stabilization control of underactuated surface vessels is achieved. At last, the effectiveness of the proposed algorithm is illustrated by simulation tests.
机译：研究了带有两个独立控制输入的欠驱动水面船舶的稳定控制问题。通过转换，可以正确地显示系统的级联。原始的非线性系统可以分为两个子系统。线性子系统和非线性子系统。分别为两个子系统导出稳定定律。获得具有指数收敛速度的平稳时变反馈稳定定律。拟定的稳定定律保证了所有系统状态都以指数形式收敛到平衡状态。达到了对欠驱动水面船只进行稳定控制的目的。最后通过仿真实验验证了算法的有效性。

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