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基于改进积分视线导引策略的欠驱动无人水面艇路径跟踪

陈霄 刘忠 张建强 董蛟 周德超

陈霄, 刘忠, 张建强, 等 . 基于改进积分视线导引策略的欠驱动无人水面艇路径跟踪[J]. 北京航空航天大学学报, 2018, 44(3): 489-499. doi: 10.13700/j.bh.1001-5965.2017.0192
引用本文: 陈霄, 刘忠, 张建强, 等 . 基于改进积分视线导引策略的欠驱动无人水面艇路径跟踪[J]. 北京航空航天大学学报, 2018, 44(3): 489-499. doi: 10.13700/j.bh.1001-5965.2017.0192
CHEN Xiao, LIU Zhong, ZHANG Jianqiang, et al. Path following of underactuated USV based on modified integral line-of-sight guidance strategies[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(3): 489-499. doi: 10.13700/j.bh.1001-5965.2017.0192(in Chinese)
Citation: CHEN Xiao, LIU Zhong, ZHANG Jianqiang, et al. Path following of underactuated USV based on modified integral line-of-sight guidance strategies[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(3): 489-499. doi: 10.13700/j.bh.1001-5965.2017.0192(in Chinese)

基于改进积分视线导引策略的欠驱动无人水面艇路径跟踪

doi: 10.13700/j.bh.1001-5965.2017.0192
详细信息
    作者简介:

    陈霄  男,博士研究生。主要研究方向:无人水面艇智能航行控制技术及其作战应用

    刘忠  男,博士, 教授。主要研究方向:无人水面艇总体设计及系统集成技术、复杂系统建模与仿真

    张建强  男,博士, 副教授。主要研究方向:无人水面艇智能航行控制及系统集成技术

    董蛟  男,博士研究生。主要研究方向:无人水面艇智能航行控制技术

    周德超  男,博士, 副教授。主要研究方向:无人水面艇航行控制算法、复杂系统建模与仿真

    通讯作者:

    刘忠, E-mail: liuzh531@163.com

  • 中图分类号: TP242;TP273

Path following of underactuated USV based on modified integral line-of-sight guidance strategies

More Information
  • 摘要:

    路径跟踪控制是无人水面艇(USV)自主完成各项任务使命的关键技术之一,受到国内外运动控制领域的普遍关注。为提高风浪流等外界环境干扰下,无人水面艇(USV)路径跟踪控制的准确性和鲁棒性,研究海流等外界扰动环境下一类非对称欠驱动无人水面艇的路径跟踪问题,提出了2种改进积分视线(ILOS)导引策略,并基于改进导引策略和反馈控制思想实现了无人水面艇水平面的路径跟踪。与传统ILOS导引策略相比,第1种改进策略具有变积分增益能够避免积分饱和及超调现象;第2种改进策略在前者的基础上将前视距离设计为时变量,使得无人水面艇操纵更加灵活,其中积分增益和前视距离均为垂直距离误差的不同函数,引导无人水面艇灵活快速地跟踪期望路径。基于级联系统理论证明了当所有控制目标实现时,控制系统为全局k-指数稳定(GKES)的,理论分析和仿真实验证明了算法的有效性和先进性。

     

  • 图 1  基于前视距离的ILOS导引策略原理图

    Figure 1.  Schematic diagram of ILOS guidance strategy based on lookahead distance

    图 2  不同导引策略下USV直线路径跟踪、横向误差、相对纵向速度、航向角、转艏力矩及前进推力的变化(工况1)

    Figure 2.  Straight path following, cross-track error, relative vertical velocity, course angle, steering torque and forward thrust variation of USV under different guidance strategies(working condition 1)

    图 3  不同导引策略下USV曲线路径跟踪、横向误差、相对纵向速度、航向角、转艏力矩及前进推力的变化(工况2)

    Figure 3.  Curve path following, cross-track error, relative vertical velocity, course angle, steering torque and forward thrust variation of USV under different guidance strategies(working condition 2)

    表  1  USV模型参数

    Table  1.   Model parameters of USV

    参数 数值
    m11 25.8
    m22 33.8
    m23 -11.748
    m32 -11.748
    m33 6.813
    b11 1
    b22 0
    b32 1
    d11 2.0
    d22 7.0
    d23 -2.542 5
    d32 -2.542 5
    d33 1.422
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出版历程
  • 收稿日期:  2017-03-31
  • 录用日期:  2017-06-30
  • 刊出日期:  2018-03-20

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