DEVELOPMENT OF NEW NONLINEAR CONTROLLERS FOR TRAJECTORY TRACKING AND PATH-FOLLOWING OF UNDERACTUATED OCEAN VEHICLES

开发用于欠驱动海洋航行器轨迹跟踪和路径跟踪的新型非线性控制器

• 批准号: DP0453294
• 负责人: Prof Duc Do
• 金额: $ 15.72万
• 依托单位: The University of Western Australia
• 依托单位国家: 澳大利亚
• 项目类别: Discovery Projects
• 财政年份: 2004
• 资助国家: 澳大利亚
• 起止时间: 2004-01-01 至 2007-12-31
• 项目状态: 已结题
• 来源: https://dataportal.arc.gov.au/RGS/Web/Grants/DP0453294
• 关键词: DEVELOPMENT; NEW; NONLINEAR; CONTROLLERS; TRAJECTORY

Trajectory tracking control and path-following of underactuated ocean vehicles are not only of theoretical challenging but also important practice. This project is firstly to develop methodologies to design full-state feedback controllers to force the underactuated ocean vehicles including surface ships and underwater vehicles with off-diagonal terms in their system matrices to track reference trajectories generated by virtual vehicles, and to follow a predefined path with a desired forward speed. Secondly, we develop methods to design observers to estimate the unmeasured states (velocities) of the vehicles and incorporate with the full-state feedback controllers to have output-feedback observer-based controllers. Lastly, the proposed control design methods are extended to a certain class of underactuated mechanical systems.

欠驱动海洋航行体的轨迹跟踪控制和路径跟踪不仅具有理论挑战性，而且具有重要的实践意义。该项目首先开发方法论来设计全状态反馈控制器，以迫使欠驱动海洋航行器（包括水面舰艇和水下航行器）在其系统矩阵中具有非对角项来跟踪虚拟航行器生成的参考轨迹，并遵循预定义的路径以所需的前进速度。其次，我们开发了设计观测器的方法来估计车辆的未测量状态（速度），并与全状态反馈控制器结合以获得基于输出反馈观测器的控制器。最后，所提出的控制设计方法扩展到某一类欠驱动机械系统。