基于动态面控制的船舶航迹跟踪

摘要

Tracking control of surface ships is a chal enging problem.A design scheme based on the dynamic surface control methed is proposed for this problem.The addition of low pass filters in backstepping design procedure al ows the dynamic surface control methed to avoid the explosion of terms involving the calculation of the state derivatives and result in the simpler control structure.Simulation results prove that the proposed methed can implement the tracking of ships.%针对船舶航迹跟踪控制问题，引入动态面控制算法，设计了基于动态面控制的船舶航迹跟踪控制器。该算法是在backstepping算法的基础上加入了一阶低通滤波器，这样能够避免状态量微分计算时的微分膨胀问题，使得设计更为简单。仿真结果表明，所设计的控制器能够很好地实现船舶航迹跟踪。