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题名: Design of Strait-line Tracking Controller of Under-actuated USV Based on Back-stepping Method and Feedback Compensation
作者: Ma YL(马玉龙) ; Han JD(韩建达) ; He YQ(何玉庆)
作者部门: 机器人学研究室
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
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
出版日期: 2011
页码: 391-396
收录类别: CPCI(ISTP) ; EI
ISSN号: 1662-7482
ISBN号: 978-3-03-785019-0
关键词: Back-stepping ; Feedback compensation ; Strait-line tracking ; Under-actuated ships
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.
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内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8643
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
马玉龙; 韩建达; 何玉庆.Design of Strait-line Tracking Controller of Under-actuated USV Based on Back-stepping Method and Feedback Compensation.见:Trans Tech Publications.Applied Mechanics and Materials,Clausthal-Zellerfeld, Germany,2011,391-396
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