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首页> 外文期刊>Ocean Engineering >Two-time scale path following of underactuated marine surface vessels: Design and stability analysis using singular perturbation methods
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Two-time scale path following of underactuated marine surface vessels: Design and stability analysis using singular perturbation methods

机译：欠驱动海洋水面船舶的两次尺度路径：使用奇异摄动法的设计和稳定性分析

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摘要

The paper aims to develop a novel path following control law for nonlinear vessel models in two-time scales. For the 4-DOF path following model, we explore that the guidance dynamics are much slower than the ship motion dynamics. Based on such characteristic, a singular perturbation method is used to decompose the full system into two-time-scale subsystems. The two-time-scale structure allows independent analysis of dynamics in each time scale. Separate control strategies for the quasi-steady-state subsystem and the boundary layer subsystem are designed to stabilize the full system, yielding a rudder angle control law which is compact and uncomplicated to implement in practice. Singular perturbation methods are utilized to provide mathematical expressions for the upper bound of the singularly perturbed parameter and establish the exponential stability of the full system. The paper proves that the control law is robust in the presence of bounded perturbations and unmodeled dynamics, resulting states converge into an invariant set arbitrarily closed to the origin. Simulation results show the effectiveness and robustness of the proposed method for path following. The primary benefit of the proposed method is the simplicity of implementation. (C) 2016 Elsevier Ltd. All rights reserved.
机译：本文旨在为非线性尺度下的二维模型开发一种遵循控制律的新路径。对于四自由度路径跟随模型，我们发现制导动力学比船舶运动动力学要慢得多。基于这样的特性，使用奇异摄动法将整个系统分解为两个时间尺度的子系统。两时标结构允许对每个时标中的动力学进行独立分析。设计了准稳态子系统和边界层子系统的单独控制策略，以稳定整个系统，从而产生了舵角控制律，该律紧凑且在实践中难以实现。利用奇异摄动方法为奇异摄动参数的上限提供数学表达式，并建立整个系统的指数稳定性。本文证明了在存在有界扰动和无模型动力学的情况下，控制律是鲁棒的，结果状态收敛到一个任意接近原点的不变集合。仿真结果表明了该方法的有效性和鲁棒性。所提出的方法的主要好处是实现简单。 （C）2016 Elsevier Ltd.保留所有权利。

著录项

  • 来源
    《Ocean Engineering》 |2016年第15期|287-297|共11页
  • 作者

    Yi Bowen; Qiao Lei; Zhang Weidong;

  • 作者单位

    Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China|Minist Educ, Key Lab Syst Control & Informat Proc, Shanghai 200240, Peoples R China;

    Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China|Minist Educ, Key Lab Syst Control & Informat Proc, Shanghai 200240, Peoples R China;

    Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China|Minist Educ, Key Lab Syst Control & Informat Proc, Shanghai 200240, Peoples R China;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Guidance and control; Ship path following; Singular perturbations; Multi-time scales;

    机译：制导与控制;航迹跟踪;奇异摄动;多尺度;

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