Trajectory planning and tracking control for underactuated unmanned surface vessels

被引：26

作者：

Liao Yu-lei ^{[1
]}

Su Yu-min ^{[1
]}

Cao Jian ^{[1
]}

机构：

[1] Harbin Engn Univ, State Key Lab Autonomous Underwater Vehicle, Harbin 150001, Peoples R China

来源：

JOURNAL OF CENTRAL SOUTH UNIVERSITY | 2014年 / 21卷 / 02期

基金：

中国国家自然科学基金;

关键词：

trajectory tracking; stabilization; underactuated unmanned surface vessel; backstepping; OUTPUT-FEEDBACK CONTROL; GLOBAL TRACKING; DESIGN; SHIPS; STABILIZATION;

D O I：

10.1007/s11771-014-1972-x

中图分类号：

TF [冶金工业];

学科分类号：

0806 ;

摘要：

The trajectory planning and tracking control for an underactuated unmanned surface vessel (USV) were addressed. The reference trajectory was generated by a virtual USV, and the error equation of trajectory tracking for underactuated USV was obtained, which transformed the tracking and stabilization problem of underactuated USV into the stabilization problem of the trajectory tracking error equation. A nonlinear state feedback controller was proposed based on backstepping technique and Lyapunov's direct method. By means of Lyapunov analysis, it is proved that the proposed controller ensures that the solutions of closed loop system have the ultimate boundedness property. Numerical simulation results are presented to validate the effectiveness and robustness of the proposed controller.

引用

页码：540 / 549

页数：10

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