Under-actuated surface vessel automatic berthing method based on stabilization control

Abstract

The invention discloses an under-actuated surface vessel automatic berthing method based on stabilization control. The method comprises the following steps: S1, constructing a surface vessel three-degree-of-freedom motion mathematical model; S2, expanding the established mathematical model and carrying out differential homomorphic transformation; S3, performing feedback transformation on the mathematical model by adopting state feedback linearization; and S4, designing a controller according to the transformed system. A dynamic system of an under-actuated vessel is converted into an expanded chain structure, and finally global progressive point stabilization control of the under-actuated surface vessel is achieved, so that the automatic berthing function of the under-actuated surface vessel is achieved. According to the method, the under-actuated surface vessel can be accurately and stably controlled, the global asymptotic stability of an under-actuated surface vessel control system can be met, and physical quantity indexes such as the position, the speed and the heading angle of the surface vessel are converged.

Description

technical field [0001] The invention relates to an automatic berthing method for an underactuated surface boat, in particular to an automatic berthing method for an underactuated surface boat based on stabilization control, and belongs to the technical field of surface boat manipulation. Background technique [0002] In recent years, intelligent ships, as a research hotspot in the field of control, have attracted widespread attention from scholars. At present, the automatic parking technology for intelligent vehicles has achieved rapid development, but there are relatively few studies on automatic berthing of surface boats. Nowadays, the unberthing of surface boats is mostly completed by manual control, relying on the crew to make judgments on information such as the position, course speed, and course angle of the surface boat, which is prone to problems such as mistakes in human control decisions or insufficient control accuracy, resulting in unnecessary loss. Therefore, i...

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