Sufficient Conditions of Global Asymptotic Stability and Deductions for Ship's Straight-line Tracking Control Systems
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摘要: 针对水面船舶直线航迹控制系统的非线性数学模型, 给出了一种使系统关系度为零的特殊重定义输出变量, 并得到了一类状态反馈控制律. 文中引入一种新的 Lyapunov 预选函数, 采用 Lyapunov 直接法研究系统的稳定性问题, 得到了系统全局渐近稳定的充分条件及推论. 数值仿真和模拟试验结果证明了该充分条件的正确性.
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关键词:
- Lyapunov函数 /
- 重定义输出变量 /
- 非线性系统 /
- 输入输出线性化 /
- 船舶航迹控制
Abstract: A special redefinition output variable, which makes the relative degree of the system be zero, is presented for the ship's straight-line tracking nonlinear system. At the same time, a class of state feedback control laws are developed. In this paper, through stability analysis based on a novel Lyapunov function and Lyapunov's direct method, the sufficient conditions of global asymptotical stability and the deductions are given. The results of numerical simulation and experiments on a simulator show the validity of the sufficient conditions. -
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