Modified Backstepping Controller for Path Following of Marine Crafts with Actuator Dynamics

被引：0
|
作者：
Qü Y. [1 ,2 ]
Xü H.-X. [1 ,2 ]
Yü W.-Z. [1 ,2 ]
机构：
[1] Key Laboratory of High Performance Ship Technology of Ministry of Education, Wuhan University of Technology, Wuhan
[2] School of Transportation, Wuhan University of Technology, Wuhan
来源：
Xü, Hai-Xiang (qukaiyang@163.com) | 2017年 / China Ship Scientific Research Center卷 / 21期
基金：
中国国家自然科学基金;
关键词：
Actuator dynamics; Backstepping control; Line-of-sight guidance; Path following; Path planning;
D O I：
10.3969/j.issn.1007-7294.2017.06.004
中图分类号：
学科分类号：
摘要：
A simple geometric method for generating curvature-continuous paths in a plan is presented. Based on the curvature-continuous paths, a line-of-sight (LOS) guidance law is utilized to minimize the cross-track error. To attenuate the oscillation of the control signal and obtain smooth control outputs, a modified backstepping controller with actuator dynamics is proposed for path following of overactuated marine crafts. It is worth mentioning that an integral action is added to adapt the slow-varying environmental forces of wind, wave and current forces. Numerical simulations demonstrate the validity of the proposed controller. © 2017, Editorial Board of Journal of Ship Mechanics. All right reserved.
引用
收藏
页码：685 / 697
页数：12
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