期刊
SYSTEMS SCIENCE & CONTROL ENGINEERING
卷 7, 期 1, 页码 379-388出版社
TAYLOR & FRANCIS LTD
DOI: 10.1080/21642583.2019.1674222
关键词
Straight-line tracking; Lyapunov direct method; backstepping control method; disturbance observer
资金
- NSFC (Chinese National Natural Science Foundation) for Distinguished Young Scholars of P. R. China [61525305]
For the straight-line tracking of unmanned surface vehicle (USV), most researchers pay much attention to the course control. In the present work, a strategy of decoupling and control of the speed and yaw of the USV is proposed to maintain a constant speed and a desired course, which ensures the high efficiency of ship-borne sonar during a seabed exploration. Since USV is 3-DOF underactuated system, the Lyapunov direct method is combined with the hierarchical back stepping control method to achieve the desired speed and yaw angle of USV under the external disturbances, such as wind, waves and currents. A disturbance observer is then constructed to compensate the oscillation by predicting changes in external disturbances. The control system is further proved to be asymptotically stable by the Lyapunov theory. The validity and robustness of this decoupling controller is verified by applying to a practical USV in the straight-line tracking.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据