Under-actuated water surface ship control method satisfying preset tracking performance
A technology that satisfies preset and control methods, applied in two-dimensional position/channel control and other directions, and can solve problems such as tracking control of reference trajectory that cannot be arbitrarily smooth
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[0062] This embodiment provides a trajectory tracking control method for an underactuated surface vessel under the preset tracking performance constraints. The schematic diagram of the underactuated surface vessel system is as follows figure 1 As shown, the overall control block diagram is shown as figure 2 As shown, its detailed implementation process includes:
[0063] Step 1, establish underactuated surface ship dynamic model;
[0064] According to the surface ship system model below:
[0065]
[0066] Expand a dynamic model in vector form to scalar form:
[0067]
[0068] Among them, ψ is the heading angle of the ship, r is the steering angular velocity of the ship obtained after derivation of ψ, R(ψ) represents the rotation matrix, Indicates position η 1 derivative of Denotes the derivative of the longitudinal velocity u, Denotes the derivative of the sway velocity v, Indicates the derivative of the steering angular velocity r, τ u Indicates the longitu...
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