Global inverse optimal tracking control of underactuated omni-directional intelligent navigators (ODINs)

被引：4

作者：

Do K.D. ^{[1
]}

机构：

[1] Department of Mechanical Engineering, Curtin University, Bentley, 6102, WA

来源：

Journal of Marine Science and Application | 2015年 / 14卷 / 1期

基金：

澳大利亚研究理事会;

关键词：

backstepping method; global tracking; inverse optimality; Lyapunov’s direct method; optimal controller; underactuated omni-directional intelligent navigator (ODIN);

D O I：

10.1007/s11804-015-1288-8

中图分类号：

学科分类号：

摘要：

This paper presents a design of optimal controllers with respect to a meaningful cost function to force an underactuated omni-directional intelligent navigator (ODIN) under unknown constant environmental loads to track a reference trajectory in two-dimensional space. Motivated by the vehicle’s steering practice, the yaw angle regarded as a virtual control plus the surge thrust force are used to force the position of the vehicle to globally track its reference trajectory. The control design is based on several recent results developed for inverse optimal control and stability analysis of nonlinear systems, a new design of bounded disturbance observers, and backstepping and Lyapunov’s direct methods. Both state- and output-feedback control designs are addressed. Simulations are included to illustrate the effectiveness of the proposed results. © 2015, Harbin Engineering University and Springer-Verlag Berlin Heidelberg.

引用

页码：1 / 13

页数：12

共 34 条

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