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中文摘要：
针对非线性欠驱动自主船（Autonomous Surface Vehicle,ASV）,提出了一种非线性路径跟踪控制方法。采用以自由参考点为原点的Serret-Frenet坐标系描述路径跟踪误差及其动态模型,并选用非时间量为参考变量,摆脱了时间因素的影响;综合应用Lyapunov理论与Back stepping方法设计了欠驱动自主船的路径跟踪控制律,保证了路径跟踪误差的全局渐近稳定。最后,仿真研究结果验证了该方法的有效性。
英文摘要：
A nonlinear path following control method is proposed for the nonlinear and underactuated Autonomous Surface Vehicle.The Serret-Frenet coordinate originating at the free reference point on the path is used to describe the path following errors and their dynamic model.Meanwhile,a non-time variable is selected as reference variable,which makes the system get rid of the time factor.Then,based on Lyapunov theory and back stepping techniques,a nonlinear controller is designed,which yields asymptotic convergence of the path following errors to zero.Finally,simulation results verify the effectiveness of the proposed path following controller.
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