船舶轨迹跟踪研究综述-邱荷珍

33420144ＲESEAＲCHANDEXPLOＲATIONINLABOＲATOＲYVol．33No．4Apr．2014··200240。、。、、。、、、。。。P751A1006－7167201404－0004－04ＲeviewontheStudyofDynamicTrackingforSurfaceShipsQIUHe-zhenWANGLeiWANGHong-chaoStateKeyLaboratoryofOceanEngineeringShanghaiJiaotongUniversityShanghai200240ChinaAbstractDynamictrackingDTisakindofdynamicpositioningDPinabroadsenseanditisoftenemployedtoenabletheshiptoreachitsrequiredpositionwithinalimitedtime．InthispapermaininterestisplacedonresearchachievementsofDT．Bothfull-actuatedshipsandunder-actuatedshipsareelaboratedinrespectsoftheoreticalmethodnumericalsimulationandexperimentalvalidationetc．UnlikeDPsystemthemotionequationsofDTmustbestillnonlinear．MeanwhileaddedmassCoriolisandcentripetalforcesnonlineardampingandthedisturbancesduetowindcurrentandwaveetc．shouldalsobeconsidered．BeingcomplexnonlinearcontrolsystemcanbedesignedbymethodsfrombacksteppingtoadaptivebacksteppingfullstatefeedbackoutputfeedbackslidingmodecontrolandneuralnetworkcontrolwithperformanceofDTbecomingbetterandbetter．IngeneralLyapunovstabilitytheoryisusedtostudythecontrolstabilityoftheDT．ThispaperisbeneficialtofurtherstudyofDT．keywordsdynamictrackingfull-actuatedshipunder-actuatedship2013－07－26511791031989－。[e-mail]1971－。[e-mail]0DynamicPositionSystemDPS。DPS、、4。、、。。DynamicTrackingDT4。。。、。。1full-actuatedshipunder-actuatedship。configurationspacedimension。、。、、。6DP3、、。。。。2DP。Husa1。Fossen2xy、。Godhavn3。。Pettersen4。。Fossen1994。Breivik5。、。Encarnaao6。Tee7。。full-statefeedbackoutputfeedback。Dong8-93。Chen。。Cheng10Fossen533。Yang、CyberShipII。11。Zhang。12。。MichielWondergem2004-。、。CyberShipII。。13-14。KeizerDPDT10DPDT、DPDTDPDT10m2m。3Walsh。、。Ｒeyhanogh。Godhavn。。。15。Pettersen16-20PettersenNijmeijer1998。12。1999。20011∶70CybershipI。Way-point。Fossen。LefeberPettersenκ。。CybershipI21。Hebertt。Behal。。Dixon22-23。Do64。、。。。κ。Do。、、24-29。Ｒeza。。30。Borhaug6。6HUGINAUV。31。DongBarbalat32。Mahmut。33。Aguiar34。Ashrafiuon。。。35-36。Lucas。。。、37-39。Yaswanth。。Farbod。GPS、36。。840。Laghrouche。4。、、。。、、、。。。1、。2。3。4。733Ｒeferences1HusaKEFossenTI．Backsteppingdesignsfornonlinearway-pointtrackingofshipsJ．ManoeuvringandControlofMarineCraft199724237-4242．2FossenTIBergeSP．NonlinearvectorialbacksteppingdesignforglobalexponentialtrackingofmarinevesselsinthepresenceofactuatordynamicsC//InDecisionandControlProceedingsofthe36thIEEEConferenceon19974237-4242．3GodhavnJFossenTIBergeS．Non-linearandadaptivebacksteppingdesignsfortrackingcontrolofshipsJ．InternationalJournalofAdaptiveControlandSignalProcessing1998128649-670．4PettersenKNijmeijerH．OutputfeedbacktrackingcontrolforshipsJ．NewDirectionsinNonlinearObserverDesign199920311-334．5BreivikMFossenTI．AunifiedconceptforcontrollingamarinesurfacevesselthroughtheentirespeedenvelopeC//InIntelligentControl2005．Proceedingsofthe2005IEEEInternationalSymposiumonMediterreanConferenceonControlandAutomation20051518-1523．6EncarnaaoPPascoalA．CombinedtrajectorytrackingandpathfollowinganapplicationtothecoordinatedcontrolofautonomousmarinecraftC//InDecisionandControl2001．Proceedingsofthe40thIEEEConferenceon2001964-969．7TeeKPGeSS．ControloffullyactuatedoceansurfacevesselsusingaclassoffeedforwardapproximatorsJ．ControlSystemsTechnologyIEEETransactionson2006144750-756．8DongBinLTatliciogluEBurgTCetal．ＲobustoutputtrackingcontrolofasurfacevesselC//InAmericanControlConference2008544-549．9DongBinLTatliciogluEBurgTCetal．AdaptiveoutputtrackingcontrolofasurfacevesselC//InDecisionandControl2008．CDC2008．47thIEEEConferenceon20081352-1357．10ChengJYiJZhaoD．DesignofaslidingmodecontrollerfortrajectorytrackingproblemofmarinevesselsJ．IETControlTheory＆Applications20071233．11YangYJialuDChenGetal．TrajectorytrackingcontrolofnonlinearfullactuatedshipwithdisturbancesC//InSoftComputingandPatternＲecognitionSoCPaＲ2011InternationalConferenceof2011318-323．12ZhangL-JJiaH-MQiX．NNFFC-adaptiveoutputfeedbacktrajectorytrackingcontrolforasurfaceshipathighspeedJ．OceanEngineering201138131430-1438．13WondergemMLefeberEPettersenKYetal．OutputfeedbacktrackingofshipsJ．ControlSystemsTechnologyIEEETransactionson2011192442-448．14WondergemM．OutputfeedbacktrackingofafullyactuatedshipD．DeptMechanEngEindhovenUnivTechnolEindhovenTheNetherlands2005．15GodhavnJ-M．NonlineartrackingofunderactuatedsurfacevesselsC//InDecisionandControlProceedingsofthe35thIEEE1996975-980．16PettersenKYEgelandO．ExponentialstabilizationofanunderactuatedsurfacevesselC//InDecisionandControlProceedingsofthe35thIEEEConferenceon1996967-972．17PettersenKYEgelandO．ＲobustcontrolofanunderactuatedsurfacevesselwiththrusterdynamicsC//InAmericanControlConferenceProceedingsofthe199719973411-3415．18PettersenKYNijmeijerH．TrackingcontrolofanunderactuatedsurfacevesselC//InDecisionandControlProceedingsofthe37thIEEEConferenceon19984561-4566．19PettersenKYFossenTI．Underactuateddynamicpositioningofaship-experimentalresultsJ．ControlSystemsTechnologyIEEETransactionson200085856-863．20PettersenKYNijmeijerH．UnderactuatedshiptrackingcontrolTheoryandexperimentsJ．InternationalJournalofControl200174141435-1446．21LefeberEPettersenK