Design of Strait-line Tracking Controller of Under-actuated USV Based on Back-stepping Method and Feedback Compensation
文献类型：会议论文
| 作者 | Ma YL(马玉龙) ; Han JD(韩建达); He YQ(何玉庆)
|
| 出版日期 | 2011 |
| 会议名称 | 3rd International Conference on Measuring Technology and Mechatronics Automation, ICMTMA 2011 |
| 会议日期 | January 6-7, 2011 |
| 会议地点 | Shanghai, China |
| 关键词 | Back-stepping Feedback compensation Strait-line tracking Under-actuated ships |
| 页码 | 391-396 |
| 中文摘要 | Unmanned surface vehicle (USV) system has been one of main research directions in mobile robotics because it can be used in many situations. However, high performance path following control, especially straight line tracking control, has been one of the difficult problems in autonomous control of USV system. In this paper, we propose a new straight line path following control algorithm by combining yaw angle feedback and back-stepping technique and show its closed loop stability. The most absorbing advantage of the proposed controller is that it not only reserve the good performance of back-stepping controller but also bring much faster convergent rate, which is very important in real applications. The simulation results with respect to a training ship model have shown the feasibility and validity of the proposed method. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE Instrumentation and Measurement Society |
| 会议录 | Applied Mechanics and Materials
 |
| 会议录出版者 | Trans Tech Publications |
| 会议录出版地 | Clausthal-Zellerfeld, Germany |
| 语种 | 英语 |
| ISSN号 | 1662-7482 |
| ISBN号 | 978-3-03785-019-0 |
| WOS记录号 | WOS:000302967700084 |
| 源URL | [http://ir.sia.cn/handle/173321/8643]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Ma YL,Han JD,He YQ. Design of Strait-line Tracking Controller of Under-actuated USV Based on Back-stepping Method and Feedback Compensation[C]. 见:3rd International Conference on Measuring Technology and Mechatronics Automation, ICMTMA 2011. Shanghai, China. January 6-7, 2011. |
入库方式： OAI收割
来源：沈阳自动化研究所
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