Tracking Trajectory of Underactuated Surface Vessels: a Numerical Method Approach

被引：0

作者：

Serrano, Mario E. ^{[1
]}

Scaglia, Gustavo J. E. ^{[1
]}

Mut, Vicente ^{[1
]}

Ortiz, Oscar A. ^{[1
]}

Jordan, Mario ^{[2
]}

机构：

[1] Natl Univ San Juan, San Juan, Argentina

[2] Argentine Inst Oceanog, Buenos Aires, DF, Argentina

来源：

CONTROL ENGINEERING AND APPLIED INFORMATICS | 2013年 / 15卷 / 04期

关键词：

Control System Design; Linear Algebra; Nonlinear Model; Tracking Trajectory Control; LINEAR ALGEBRA APPROACH; MOBILE ROBOTS; SHIPS;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The main difficulty in the control of an underactuated system is that the system has more outputs to be controlled than the number of independent inputs. In this paper a novel trajectory tracking controller designed originally for robotic systems is applied for underactuated surface ships. A simple approach is proposed to track trajectories, knowing the desired state, a value for the control action needed to force the system to go from its current state to a desired one can be obtained. Its main advantage is that the condition for the tracking error tends to zero and the calculation of control actions, are obtained solving a system of linear equations. In addition, the convergence to zero of tracking errors and simulation results are included in this article.

引用

页码：15 / 25

页数：11

共 17 条

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