Nonlinear Ship Control: An Opportunity for Applied Mathematicians

非线性船舶控制：应用数学家的机会

基本信息

批准号：
0504462
负责人：
Zhong-Ping Jiang
金额：
--
依托单位：
Polytechnic University of New York
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2005
资助国家：
美国
起止时间：
2005-08-15 至 2009-07-31
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=0504462&HistoricalAwards=false
关键词：
Nonlinear Ship Control Opportunity Applied

项目摘要

This research addresses some fundamental design issues in the theory of nonlinear control for underactuated mechanical systems. On the basis of our recent work on underactuated ship control, we will take a further step toward the problem of controlling a surface ship with incomplete state information and in the presence of environmental disturbances. Under these constraints, achieving robustness of global stability is hard because the ship often is underactuated, and is highly non-linear. The lack of the separation principle, the general nonlinear observer design, and general robustification tools make this problem challenging. To make advances on this issue, we will use analytical techniques from ordinary and partial differential equations, together with recent results in nonholonomic mechanics and nonlinear control. This research project will pay particular attention to stabilization with incomplete state information and trajectory tracking with robustness to environmental disturbances. Underactuated mechanical systems are systems with less number of actuators than the degrees of freedom. They appear in ocean ships and many other aerospace and marine systems such as satellites and underwater vehicles. A major goal of this project is to develop a mathematical framework of high-performance control for practical applications involving these systems. Performance-oriented controllers derived from this research will be validated via computer simulations and experiments.

这项研究解决了欠驱动机械系统非线性控制理论中的一些基本设计问题。在我们最近的欠驱动船舶控制工作的基础上，我们将进一步解决在状态信息不完整和存在环境干扰的情况下水面船舶的控制问题。在这些限制下，实现全局稳定性的鲁棒性是很困难的，因为船舶经常是欠驱动的，并且是高度非线性的。分离原理、通用非线性观测器设计和通用鲁棒性工具的缺乏使得这个问题具有挑战性。为了在这个问题上取得进展，我们将使用常微分方程和偏微分方程的分析技术，以及非完整力学和非线性控制的最新成果。该研究项目将特别关注不完整状态信息的稳定性和对环境干扰具有鲁棒性的轨迹跟踪。欠驱动机械系统是执行器数量少于自由度的系统。它们出现在远洋船舶和许多其他航空航天和海洋系统中，例如卫星和水下航行器。该项目的主要目标是为涉及这些系统的实际应用开发高性能控制的数学框架。从这项研究中得出的以性能为导向的控制器将通过计算机模拟和实验进行验证。