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中文摘要：
欠驱船舶的循迹控制已成为国内外动力定位研究的难点.针对船舶循迹控制中横向偏差最小问题,文中利用line-of-sight（LOS）引导律将船舶期望位置转化为期望首向;为了满足动态执行机构的饱和、死区和迟滞等物理限制,将执行机构的动态响应方程并入到三自由度操纵数学模型中,使控制输出更加平滑;针对欠驱船舶横向控制力无法满足的问题,设计了一种基于Lyapunov理论的两输入反步积分控制器.数值仿真验证了执行机构的动态响应方程和反步积分控制器的有效性.
英文摘要：
Recently,path following for underactuated marine craft has become a difficult problem.To minimize the cross-track error to the path,a line-of-sight（LOS）guidance law is introduced to reduce the control outputs from the desired position to the desired heading angle.In order to satisfy the saturations,dead-zones and hysteresis of the actuators,the actuator dynamics equation is added into the3 DOF maneuvering model to obtain a smooth control outputs.Considering that the sway force of the underactuated ship could not be satisfied,a backstepping controller with two outputs has been designed based on Lyapunov theory.In addition,the validity of the actuator dynamics equation and the backstepping controller is demonstrated by the simulation using the maneuvering model.
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