论文标题
通过浸入和基于不变性的轨道稳定性的一类未成年机械系统的路径
Path following of a class of underactuated mechanical systems via immersion and invariance-based orbital stabilization
论文作者
论文摘要
本文旨在为机械系统提供一个新的问题，而没有时间参数化或指导法律，即，我们将控制目标表示为轨道稳定问题。结果表明，可以调整沉浸式和不变性技术来设计解决问题的静态状态反馈控制器。特别是，我们选择采用最近引入的墨西哥sombrero能量分配方法的目标动力学。为了证明所提出的方法的有效性，我们将其应用于控制不足的海洋表面血管。
This paper aims to provide a new problem formulation of path following for mechanical systems without time parameterization nor guidance laws, namely, we express the control objective as an orbital stabilization problem. It is shown that, it is possible to adapt the immersion and invariance technique to design static state-feedback controllers that solve the problem. In particular, we select the target dynamics adopting the recently introduced Mexican sombrero energy assignment method. To demonstrate the effectiveness of the proposed method we apply it to control underactuated marine surface vessels.
