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针对无人操纵船舶的曲线航迹跟踪控制问题中,大多数控制器都采用带有时间参数t的航迹表示法的情况,设定一种新的与时间无关的航迹路径表示方法。通过引入偏航误差(具体定义参照3.2节公式(16)),得到期望航向角的补偿值,并以此消除航迹控制中的偏航误差,达到曲线航迹控制的目的。并采用滑模控制,以及模糊S面的思想,提出一种基于航向控制的曲线航迹控制方法。仿真结果说明该航迹表示法的可行性,以及控制律的有效性。
For the control of curved track of unmanned ships, most controllers use the track representation with time parameter t to set up a new time-independent path representation. By introducing the yaw error (see 3.2 formula (16) for the specific definition), the compensation value of the desired heading angle is obtained, and the yaw error in the track control is eliminated to achieve the purpose of curvilinear trajectory control. Using sliding mode control and the idea of fuzzy S-plane, a curve-track control method based on heading control is proposed. The simulation results show the feasibility of the track representation and the effectiveness of the control law.