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研究一类非完全对称欠驱动无人艇全局渐近镇定控制问题,基于级联系统理论和李雅普诺夫理论实现了全局渐近镇定控制.将无人艇系统模型进行两次全局微分同胚变换,得到非线性级联系统的形式,使原无人艇系统的镇定问题简化为级联系统的镇定问题;基于李雅普诺夫稳定性理论和级联系统理论设计了镇定控制器并分析了其稳定性,实现了非完全对称欠驱动无人艇的全局渐近镇定控制.仿真结果验证了所研究方法和设计控制器的有效性和可靠性.
The global asymptotic stabilization control for a class of non-fully symmetric under-actuated unmanned airships is studied, and the global asymptotic stabilization control is achieved based on the cascade system theory and Lyapunov theory. Two global differential homeomorphisms , The form of the nonlinear cascade system is obtained, which simplifies the stabilization problem of the original unmanned boat system to the stabilization problem of the cascade system. Based on the Lyapunov stability theory and the cascade system theory, the stabilization controller is designed and its stability is analyzed , The global asymptotic stabilization control of non-fully symmetric underactuated unmanned boats is achieved.The simulation results verify the effectiveness and reliability of the proposed method and design of the controller.