欠驱动
控制理论(社会学)
反推
欧拉角
控制器(灌溉)
李雅普诺夫函数
计算机科学
灵敏度(控制系统)
控制工程
工程类
数学
控制(管理)
非线性系统
自适应控制
人工智能
物理
几何学
量子力学
电子工程
农学
生物
作者
K.D. Do,Zhong‐Ping Jiang,J. Pan
标识
DOI:10.1016/s0167-6911(02)00214-1
摘要
We examine the problem of universal control for underactuated surface ships with only surge force and yaw moment. Namely, a single controller is to be designed to achieve stabilization and tracking simultaneously. We propose, in this paper, the first universal controller of which the synthesis is based on Lyapunov's direct method and backstepping technique. Our result is extendible to the input-saturation when the surge and yaw velocities are considered as the controls. Numerical simulations are provided to validate the effectiveness of the proposed controller and to demonstrate its sensitivity with respect to model parameters.
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