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首页> 外文期刊>The Transactions of the Royal Institution of Naval Architects,Part A:International journal of maritime engineering >VECTOR FIELD GUIDANCE LAW FOR CURVED PATH FOLLOWING OF AN UNDERACTUATED AUTONOMOUS SHIP MODEL
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VECTOR FIELD GUIDANCE LAW FOR CURVED PATH FOLLOWING OF AN UNDERACTUATED AUTONOMOUS SHIP MODEL

机译：弯曲道路后造成的传染媒介领域指导法

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摘要

A vector field guidance law and control system for curved path following of an underactuated siuface ship model is presented in this paper. In order to obtain the curved path, continuous derivatives piecewise cubic Hermite interpolation is applied for path generation based on the predefined waypoints. A heading autopilot controller is designed based on 2nd order Nomoto's model and its stability is guaranteed by the Diagram of Vyshnegradsky method. The parameters of Nomoto model are estimated using least square support vector machine based on the manoeuvring tests. The vector field guidance law is applied for both straight and curved path-following control of an underactuated surface ship model. In order to demonstrate the performance, the classical guidance law based on line-of-sight, is adopted for comparison. The results show that the vector field method is capable to solve the guidance problem of uuderactuated surface ships.
机译：本文提出了一种弯曲路径的弯曲路径的矢量领域指导法和控制系统。为了获得弯曲路径，基于预定义航点应用连续衍生分段立方Hermite插值。基于2nd订单Nomoto的模型设计了一个标题自动驾驶仪控制器，并且通过Vyshnegradsky方法的图来保证其稳定性。基于机动测试的最小二乘支持向量机估计了Nomoto模型的参数。将载体场引导法用于直接和弯曲的路径跟随欠扰的地表船模型。为了展示表现，采用了基于视线的经典指导法进行比较。结果表明，载体场方法能够解决uuderatued表面船的引导问题。

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