School of Electrical and Information Engineering, Tianjin University, Tianjin 300072, China.
School of Electrical and Information Engineering, Tianjin University, Tianjin 300072, China.
ISA Trans. 2018 Dec;83:100-106. doi: 10.1016/j.isatra.2018.09.007. Epub 2018 Sep 13.
The tracking control problem of an underactuated ship is investigated. We intend to use the underactuated ship as an example to extend the traditional dynamic inversion control method to underactuated systems. The difficulty lies in the fact that the system has no relative degree, which prevents the application of standard dynamic inversion. Three modified dynamic inversion methods are proposed that are applicable to this system. The first is the well-known dynamic extension-based dynamic inversion (DEDI), which treats an input as a state and takes dynamic extension to achieve a relative degree. The second is virtual input-based dynamic inversion (VIDI), which treats a state as a virtual input to achieve a relative degree. The third is output redefinition-based dynamic inversion (ORDI), which selects a particular variable as a new output to achieve a relative degree. The three methods are generalizations of dynamic inversion control and remove some of its inherent limitations, making it applicable to a wide variety of underactuated systems. The effectiveness of the proposed methods is verified by numerical simulations.
研究了欠驱动船舶的跟踪控制问题。我们打算以欠驱动船舶为例，将传统的动态逆控制方法扩展到欠驱动系统中。困难在于系统没有相对阶数，这阻止了标准动态逆的应用。提出了三种适用于该系统的改进动态逆方法。第一种是著名的基于动态扩展的动态逆（DEDI），它将输入视为状态，并通过动态扩展来实现相对阶数。第二种是基于虚拟输入的动态逆（VIDI），它将状态视为虚拟输入来实现相对阶数。第三种是基于输出重定义的动态逆（ORDI），它选择一个特定的变量作为新的输出来实现相对阶数。这三种方法是动态逆控制的推广，消除了其一些内在的局限性，使其适用于各种各样的欠驱动系统。通过数值模拟验证了所提出方法的有效性。
