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研究了一类欠驱动不对称船舶的全局一致渐近输出反馈镇定控制问题。该船舶横向上未装备驱动装置,加速度带有不可积的非完整约束条件,并且惯性参数矩阵和阻尼参数矩阵中的非对角线元素允许存在非零项。由于欠驱动船舶的速度和角速度不易测量,设计了高增益观测器估计速度状态变量。通过对系统进行坐标变换,并结合高增益观测器,根据分离原则设计了欠驱动不对称船舶的全局时变光滑输出反馈镇定律,仿真结果验证了所提方法的有效性。
The globally uniformly asymptotic output feedback stabilization control for a class of under-powered asymmetric ships is studied. The ship is equipped with no drive laterally, with non-integrable incomplete constraints on acceleration, and non-zero entries are allowed for off-diagonal elements in the inertia parameter matrix and the damping parameter matrix. Due to the speed and angular velocity of under-driven ship is not easy to measure, high-gain observer is designed to estimate the speed state variables. Through the coordinate transformation of the system and the combination of high gain observer, the global time-varying smoothing output feedback stabilization law of under-actuated unsymmetrical ship is designed according to the separation principle. The simulation results verify the effectiveness of the proposed method.