欠驱动船舶光滑时变指数镇定.PDFVIP

23 5 Vol. 23 No. 5 2006 10 Control Theory Applications Oct. 2006 2006 , (1. , 150001; 2. , 100053) : . , . , , , , . . . : ; ; ; : TP273 : A Smooth time-variant exponential stabilization for underactuated surface vessels ZHAO Guo-liang , HAN Bing (1. College of Automation, Harbin Engineering University, Harin Heilongjiang 150001, China; 2. Project Engineering Division, Capital Engineering Research Incorporation Limited, Beijing 100053, China) Abstract: The underactuated characteristic of surface vessel motion in horizontal plane creates new direction in the research field of ship steering. Based on the kinematic and dynamic equations of surface vessel in horizontal plane, a set of second-order dynamic equations are given. Due to its underactuated characteristic, two sub-systems are obtained based on the diffeomorphism transformation and input transform. The state feedback control laws to form a smooth time-varying feedback stabilization law with exponentially convergence rate for original system are then derived. The proposed smooth time-varying feedback stabilization law guarantees all the states of original system to converge to the equilibrium point exponentially. The stabilization law could be used in the cases of dynamic positioning and auto-mooring for underactuated vessels. Finally, the effectiveness of the proposed method is illustrated by simulation tests. Key words: underactuated; surface vessel; diffeomorphi