信息与控制2017，Vol.46Issue(5)：587-592,6.DOI:10.13976/j.cnki.xk.2017.0587
基于LQR的双推进双体无人船位点跟踪控制
LQR-based Waypoint Tracking Control of Catamaran USV with Double Propulsion System
摘要
Abstract
To solve the automatic waypoint tracking problem of a double-propulsion catamaran USV developed inde-pendently, a waypoint tracking controller is designed based on linear quadratic regulator theory and the line-of-sight algorithm with a three-degrees-of-freedom dynamic model, which is modified based on theoretical e-quations and the data of a lake experiment. Then, simulation analysis of the designed waypoint tracking con-troller is performed, and results are compared with the ones obtained by the PID method. In addition, several single-and multi-waypoint tracking tests in a lake experiment are performed based on the designed waypoint tracking controller. Results show good tracking performance, which indicates that the designed waypoint tracking controller can adapt to double-propulsion catamaran USVs.关键词
无人船/位点跟踪/线性二次型调节器Key words
unmanned surface vessel ( USV)/waypoint tracking/linear quadratic regulator ( LQR)分类
信息技术与安全科学引用本文复制引用
汪栋,张杰,邵峰,金久才,毛兴鹏..基于LQR的双推进双体无人船位点跟踪控制[J].信息与控制,2017,46(5):587-592,6.基金项目
国家自然科学基金资助项目(61401111) （61401111）
海洋公益性行业科研专项资助项目(201505005-2) （201505005-2）
中央级公益性科研院所基本科研业务费专项资助项目(2015P08) （2015P08）
