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中文摘要：
针对欠驱动自治水面船的镇定控制问题,提出了一种光滑时变反馈镇定控制律.基于全局微分同胚坐标变换将欠驱动自治水面船的数学模型转化为级联形式的非线性系统,并证明了原系统的镇定问题可简化为级联子系统的镇定问题.通过在状态反馈控制律中增加指数收敛控制项,获得了具有指数收敛速率的时变光滑镇定控制律,并证明该控制律能保证原系统的全局K-指数稳定性.该方法克服了当前许多控制律存在非连续、不光滑、受初始条件限制或需切换的缺点.仿真结果验证了所提出控制律的有效性,试验表明控制器的超调小、收敛快,具有良好的动态性能.
英文摘要：
The stabilization problem of an underactuated autonomous surface vessel was addressed,and a smooth time-varying feedback stabilization control law was proposed.It was shown that the original system was transformed into a cascade nonlinear system via a global differential homeomorphic coordinate conversion.The stabilization control problem of the resulting cascade system could be reduced to the stabilization problem of the cascade subsystem.A simple smooth time-varying state feedback control law with exponential tapered speed was developed by introducing an assistant exponentially tapered control item into the feedback control law,which proved that the control law was able to keep the global K-exponential stability of the original system.The proposed control law solved the disadvantages of discontinuity,unsmoothness,restriction of initial states,and switching controls in many previous control laws.The effectiveness of the proposed method was verified by simulation.Simulation results show that the control objectives were achieved with good dynamic performance such as small tuning and fast convergence speed.
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