欢迎您！东篱公司
退出
-
申报数据库
-
立项数据库
-
成果数据库
-
项目获奖数据库
中文摘要：
针对欠驱动无人水面艇航迹跟踪控制问题,设计一种直线航迹跟踪控制器.该控制器由导引算法和航向控制器两部分组成.导引算法基于LOS导引原理,根据给定航迹得出无人艇的期望航向;航向控制器采用抗饱和PID控制方法,通过负反馈防止积分器饱和,解决了传统PID控制器的航向超调和振荡问题.该航迹跟踪控制方法在DH-01小型欠驱动无人水面艇上得到验证.试验结果表明,航迹跟踪误差小于0.05 m.
英文摘要：
A straight-line path tracking controller was designed to solve the problem of straight-line path tracking of unmanned surface vehicles（ USV）. The controller consists of two parts,guidance law and a course controller. The guidance law is based on the Line-of-Sight（ LOS） guidance law,which provides the expected course according to the given path. An anti-windup course controller is devised to prevent integrator saturation through negative feedback. The controller solves the problem of overshoot and oscillation in traditional PID controller. A case study is provided on a USV called DH- 01 to demonstrate the performance of the tracking controller. Experimental results show that the tracking error is less than 0. 05 m.
同期刊论文项目
同项目期刊论文
Distributed containment control for uncertain nonlinear multi-agent systems in non-affine pure-feedb
Distributed Neural Network Control for Adaptive Synchronization of Uncertain Dynamical Multiagent Sy
Adaptive dynamic surface control for cooperative path following of marine surface vehicles with inpu
Neural Network Based Adaptive Dynamic Surface Control for Cooperative Path Following of Marine Surfa
Neural adaptive control for leader-follower flocking of networked nonholonomic agents with unknown n
Cooperative tracking and estimation of linear multi-agent systems with a dynamic leader via iterativ
Cooperative output feedback adaptive control of uncertain nonlinear multi-agent systems with a dynam
Cooperative Iterative Learning Control of Linear Multi-agent Systems with a Dynamic Leader under Dir
Adaptive dynamic surface control for cooperative path following of underactuated marine surface vehi
Cooperative fuzzy adaptive output feedback control for synchronisation of nonlinear multi-agent syst
Containment control of networked autonomous underwater vehicles with model uncertainty and ocean dis
Prescribed Performance Consensus of Uncertain Nonlinear Strict-Feedback Systems With Unknown Control
Cooperative adaptive fuzzy output feedbackcontrol for synchronization of nonlinear multi-agent syste
Robust adaptive neural network control of a class of uncertain strict-feedback nonlinear systems wit
Path following of marine surface vehicles with dynamical uncertainty and time-varying ocean disturba
Cooperative Fuzzy Adaptive Output Feedback Control for Synchronization of Nonlinear Multi-agent Syst
Predictor-based Neural Dynamic Surface Control for Distributed Formation Tracking of Multiple Marine
期刊信息
位置：