Switched Finite-Time Source Seeking of an Underactuated Ship

Yang Yiwen; Zhang Jingming; Zhang Yingjie

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Switched Finite-Time Source Seeking of an Underactuated Ship

机译：Switched Finite-Time Source Seeking of an Underactuated Ship

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In this paper, a switched finite-time source-seeking strategy is proposed for underactuated ships with a signal sensor. In practical application, for sensors in some complex environment, due to the lack of the ability to perceive the location of the source or its own position, we use the nonmodel gradient estimation of extremum seeking algorithm. This paper presents a three-step switching control method for the first time. In the first step, we prove that the closed-loop system of the underactuated ship is stable in a finite time with a constant yaw angular acceleration. In the second step, under the yaw angle acceleration controller, one of the position coordinates of the underactuated ship sensor is realized to be close to the center of the signal source through the average method. The third step is to drive the other position coordinates of the underactuated ship sensor to the center of the signal source under the action of the surge line speed controller. Simulation results show the effectiveness of the proposed strategy.

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《Mathematical Problems in Engineering: Theory, Methods and Applications》 |2021年第31期|9974071.1-9974071.10|共10页
作者
Yang Yiwen; Zhang Jingming; Zhang Yingjie;
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Hohai Univ, Business Sch, Changzhou Campus, Changzhou 213022, Jiangsu, Peoples R China|Hohai Univ, Coll Internet ings Engn, Changzhou Campus, Changzhou 213022, Jiangsu, Peoples R China;

Hohai Univ, Coll Internet ings Engn, Changzhou Campus, Changzhou 213022, Jiangsu, Peoples R China;

Hohai Univ, Business Sch, Changzhou Campus, Changzhou 213022, Jiangsu, Peoples R China;

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Switched Finite-Time Source Seeking of an Underactuated Ship

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