Division of Navigation & Information System, Mokpo National Maritime University, Mokpo 58628, Korea.
Korea e-Navi Information Technology Co., Ltd., Busan 49111, Korea.
Sensors (Basel). 2022 Mar 14;22(6):2233. doi: 10.3390/s22062233.
This paper focuses on the autonomous recovery maneuvers of an unknown underactuated practical catamaran, which returns to its initial position corresponding to the man overboard (MOB) by simply adjusting the rate of turn. This paper investigates the completion of model-based path following control for not only the traditional Williamson turn, but also complex recovery routes under time-varying disturbances. The main difficulty of model-based path following control for predicting the hydrodynamic derivatives of a practical catamaran was solved by the approximated calculation of a diagonal matrix. The second key problem of differential calculation for an underactuated model in the case of complex reference trajectories under severe disturbances was investigated. Even though this paper employs a diagonal matrix with unknown nonlinear terms, the experimental test using a small craft with payloads by remote control demonstrated the sway force per yaw moment in turning cases. Adaptive backstepping mechanisms with unknown parameters were proven by the Lyapunov theory as well as the passive-boundedness of the sway dynamics, guaranteeing the stability of sway motion in the case of unavailable sway control. The effectiveness of the algorithms of the guiding concept and error dynamics is demonstrated by the numerical simulations.
本文主要关注的是一个未知欠驱动实用双体船的自主恢复机动，通过简单地调整转弯速率，使船返回初始位置，即人员落水（MOB）位置。本文研究了基于模型的路径跟踪控制的完成，不仅针对传统的威廉逊转弯，还针对时变干扰下的复杂恢复路径。通过对角矩阵的近似计算，解决了基于模型的路径跟踪控制对实用双体船水动力导数预测的主要难点。本文还研究了在严重干扰下复杂参考轨迹下欠驱动模型微分计算的第二个关键问题。尽管本文采用了具有未知非线性项的对角矩阵，但通过遥控带有效载荷的小型船只进行的实验测试证明了在转向情况下的每转横摇力矩的横摇力。基于 Lyapunov 理论以及横摇动力学的无源有界性，证明了具有未知参数的自适应反步机制，在无法进行横摇控制的情况下保证了横摇运动的稳定性。通过数值模拟验证了引导概念和误差动力学的算法的有效性。
