| 引用本文: | 周岗,姚琼荟,陈永冰,周永余.基于输入输出线性化的船舶全局直线航迹控制[J].控制理论与应用,2007,24(1):117~121.[点击复制] |
| ZHOU Gang, YAO Qiong-hui, CHEN Yong-bing, ZHOU Yong-yu.Globalstraight-line tracking control of ships based on input-outputlinearization[J].Control Theory & Applications,2007,24(1):117~121.[点击复制] |
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| 基于输入输出线性化的船舶全局直线航迹控制 |
| Globalstraight-line tracking control of ships based on input-outputlinearization |
| 摘要点击 2003 全文点击 1569 投稿时间：2005-06-13 修订日期：2006-02-23 |
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| DOI编号 10.7641/j.issn.1000-8152.2007.1.022 |
| 2007,24(1):117-121 |
| 中文关键词 船舶航迹控制 非线性系统 输入输出线性化 重定义输出变量 Lyapunov函数 |
| 英文关键词 ship's tracking control nonlinear system input-output linearization redefinition output variable Lyapunov
function |
| 基金项目 |
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| 中文摘要 |
| 针对水面船舶直线航迹控制系统的非线性数学模型,
基于输入输出线性化技术,
给出了一类重定义输出变量和采用该输出变量的状态反馈控制律,
并得到了保证系统全局渐近稳定的充分条件. 数值仿真和模拟试验结果表明,
所提出的充分条件能够保证船舶航迹控制全局渐近稳定,
设计的控制律具有比较理想的控制效果. |
| 英文摘要 |
| Based on the input-output
linearization technique, a class of re-defined output variables and
a state feedback control law are presented for ship's straight-line
tracking control system. Meanwhile, the sufficient conditions of
global asymptotic stability are given in this paper. The results of
numerical simulation and experiment on a simulator show the validity
of the sufficient conditions. The proposed controller exhibits
relatively satisfactory performance. |
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