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摘要: 介绍了不完全驱动系统及其意义, 建立了船舶港内自动靠离泊模型和海上航运控制模型。以船舶在大洋航行或长距离转向点间航行中经常发生的直线轨迹跟踪为例, 运用输入-输出线性化设计方法, 给出了一个具有渐近跟踪能力的控制律。将该控制律应用于一个实例, 并用Matlab语言进行了计算机仿真, 结果表明该控制器可以解决船舶的不完全控制问题。Abstract: The underactuated system and its meaning were introduced. The automatic berthing control model and straight-line tracking control model for underactuated surface vessels were de-veloped. A state feedback controller that forces an underactuated ship to asymptolically track a straight-line was presented using the input-output linearization technique. This controller was ap-plied to an example, its control was simulated with Matlab software. The results show that this control strategy can resolve the control problems of underactuated ships.
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