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首页> 外文期刊>Mathematical Problems in Engineering >Barrier Lyapunov Function-Based Adaptive Control of an Uncertain Hovercraft with Position and Velocity Constraints
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Barrier Lyapunov Function-Based Adaptive Control of an Uncertain Hovercraft with Position and Velocity Constraints

机译：基于障碍Lyapunov功能的自适应控制，不确定的气垫船，位置和速度约束

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摘要

This paper considers the problem of constrained path following control for an underactuated hovercraft subject to parametric uncertainties and external disturbances. A four-degree-of-freedom hovercraft model with unknown curve-fitted coefficients is first rewritten into a parameterized form. By introducing a barrier Lyapunov function into the line-of-sight guidance, the specific transient tracking performance in terms of position error is guaranteed. A novel constrained yaw rate controller is proposed to ensure time-varying yaw rate constraint satisfaction, in which the yaw rate barrier is required to vary with the speed of the hovercraft. Moreover, a command filter is incorporated into the control design to generate the desired virtual controls and its time derivatives. Theoretical analyses show that, under the proposed controller, the position tracking error constraints and the yaw rate constraint can be strictly guaranteed. Finally, numerical simulations illustrate the effectiveness and advantages of the proposed control scheme.
机译：本文考虑了控制欠抖动气垫船的受限路径的问题，这是参数化的不确定性和外部干扰。首先将具有未知曲线系数的四维自由度气垫船模型重写为参数化表单。通过将屏障Lyapunov函数引入视线指导，可以保证在位置误差方面的特定瞬态跟踪性能。提出了一种新颖的约束横摆率控制器，以确保时变偏航率约束满足感，其中横摆率屏障需要随气垫船的速度而变化。此外，命令过滤器被整合到控制设计中以生成所需的虚拟控件及其时间衍生物。理论分析表明，在所提出的控制器下，可以严格保证位置跟踪误差约束和横摆率约束。最后，数值模拟说明了所提出的控制方案的有效性和优点。

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  • 来源
    《Mathematical Problems in Engineering》 |2019年第4期|1940784.1-1940784.16|共16页
  • 作者

    Fu Mingyu; Wang Taiqi; Wang Chenglong;

  • 作者单位

    Harbin Engn Univ Coll Automat Harbin 150001 Heilongjiang Peoples R China;

    Harbin Engn Univ Coll Automat Harbin 150001 Heilongjiang Peoples R China;

    Harbin Engn Univ Coll Automat Harbin 150001 Heilongjiang Peoples R China;

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