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中文摘要：
为实现欠驱动水面船舶在内部动态不确定和外界风流干扰情况下的航迹跟踪控制,首先构造能够使航迹偏差收敛的船首向角的跟踪方程,然后将航迹控制转化为实际船首向跟踪期望船首向的航向控制问题.应用自抗扰控制技术设计自抗扰航迹跟踪控制器,解决了恒定风流干扰造成的船舶横漂问题.应用非线性水动力模型进行仿真,结果表明,控制器能够实现欠驱动船舶对直线和曲线路径的精确跟踪,且具有较强的鲁棒性.
英文摘要：
In order to realize tracking control for underactuated surface vessel with internal dynamic uncertainties and external disturbances, a desired ship heading angle tracking equation which achieves cross track error convergence is designed. Using active-disturbance-rejection control （ADRC） technique, an AD- RC controller of ship tracking is designed . The lateral drift re- sulted from wind and current is solved. Simulations are per- formed using nonlinear ship hydrodynamic model, and the results indicate that the controller is robust against the systemic varia- tions and external disturbances, which can realize the accurate tracking of straight line and curve path for underactuated surface vessel.
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