引用本文: 高剑, 刘富樯, 赵江, 严卫生. 欠驱动自主水面船的非线性路径跟踪控制[J]. 机器人, 2012, 34(3): 329-336.
GAO Jian, LIU Fuqiang, ZHAO Jiang, YAN Weisheng. Non-linear Path Following Control of Underactuated Autonomous Surface Vehicles[J]. ROBOT, 2012, 34(3): 329-336.
 Citation: GAO Jian, LIU Fuqiang, ZHAO Jiang, YAN Weisheng. Non-linear Path Following Control of Underactuated Autonomous Surface Vehicles[J]. ROBOT, 2012, 34(3): 329-336.

## Non-linear Path Following Control of Underactuated Autonomous Surface Vehicles

• 摘要: 基于级联方法提出一种欠驱动自主水面船的全局K 指数稳定路径跟踪控制算法．采用以自由路径参考点为原点的Serret-Frenet 坐标系建立路径跟踪误差的动态模型，以路径参数的变化率为附加控制输入，克服了以正交投影点为坐标原点时的奇异值问题．设计路径跟踪航向角指令，将路径跟踪模型分解为位置跟踪子系统和航向角、前向速度跟踪子系统两个子系统级联的形式，设计航向角和前向速度的全局指数稳定跟踪控制器，应用级联系统理论证明了路径跟踪误差的全局K 指数稳定性．数学仿真和自主水面船湖上实验结果验证了该路径跟踪控制算法的有效性．

Abstract: The globally K-exponentially stable path following control of an underactuated autonomous surface vehicle (ASV) is proposed based on the cascaded approach. The dynamics model of the ASV path following errors is derived utilizing the Serret-Frenet coordinate originated at the free path reference point, which creates an added control input, i.e., the change rate of the path parameter, to avoid the singularity problem when adopting the coordinate originating at the orthogonal projection point. The path following reference yaw is designed, and the whole path following model is decomposed into two cascaded sub-models, named the position tracking sub-model and the yaw angle and surge velocity tracking sub-model. The global K-exponential stability of the path following errors is proved using the cascaded system theory with the globally exponentially stable yaw angle and surge velocity tracking controllers. The results of the mathematic simulations and the lake trials of a real ASV demonstrate the performance of the proposed path following control algorithm.

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