[1]李世华,田玉平.减执行器水面舰船系统的光滑时变指数全局镇定[J].东南大学学报(自然科学版),2001,31(1):29-34.[doi:10.3969/j.issn.1001-0505.2001.01.007]
 Li Shihua,Tian Yuping.Global Smooth Exponential Stabilization of an Underactuated Autonomous Surface Vessel[J].Journal of Southeast University (Natural Science Edition),2001,31(1):29-34.[doi:10.3969/j.issn.1001-0505.2001.01.007]
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减执行器水面舰船系统的光滑时变指数全局镇定()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
31
期数:
2001年第1期
页码:
29-34
栏目:
自动化
出版日期:
2001-01-20

文章信息/Info

Title:
Global Smooth Exponential Stabilization of an Underactuated Autonomous Surface Vessel
作者:
李世华 田玉平
东南大学自动控制系, 南京 210096
Author(s):
Li Shihua Tian Yuping
Department of Automatic Control, Southeast University, Nanjing 210096)
关键词:
水面舰船 全局镇定 光滑时变反馈 指数收敛
Keywords:
surface vessel global stabilization smooth time-varying feedback exponential convergence
分类号:
TP13
DOI:
10.3969/j.issn.1001-0505.2001.01.007
摘要:
已知减执行器水面舰船系统不能由连续时不变反馈控制律镇定.本文对减执行器水面舰船系统提出一种具有指数收敛率的光滑时变反馈控制律,使得闭环系统被全局镇定.该方法反馈控制律设计简单,并且所有状态的收敛率可以事先确定.与其它同类方法的比较以及仿真例子说明了该方法的有效性.
Abstract:
The paper studies the problem of controlling the planar position and orientation of an autonomous surface vessel using two independent thrusters. It is shown that although the system is not asymptotically stabilizable to a given configuration using a smooth time-invariant feedback, it can be globally exponentially stabilized by a smooth time-varying feedback law. Moreover, the exponential convergent rate of states can be determined in advance. Comparison with other methods and a simulation example demonstrate the efficiency of the proposed method.

参考文献/References:

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备注/Memo

备注/Memo:
作者简介:李世华,男,1975年生,博士研究生.
基金项目:国家自然科学基金资助项目(69974009)和国家攀登计划预选项目(970211017).
更新日期/Last Update: 2001-01-20