基于PCT的无人船轨迹跟踪
PCT-Based Trajectory Tracking for Underactuated Marine Vessels
AI总结：
本文基于极坐标框架研究无人船轨迹跟踪，通过引入两种极坐标变换将二维输入三维输出模型转化为二维输入二维输出反馈系统，并提出指数方向修改方法以解决控制器设计中的奇异性问题。
摘要：
本文研究了在极坐标框架下无人船轨迹跟踪问题。通过引入两种极坐标变换（PCTs），将原有的二维输入三维输出二级跟踪模型（在笛卡尔框架中表达）转化为二维输入二维输出反馈系统。然而，所得模型不一定满足传统反推方法所需的严格反馈条件。为避免控制器设计中可能出现的奇异性，提出了一种新的概念——指数方向修改（EMO）。尽管PCTs带来了显著的结构简化，但也引入了固有的限制，尤其是与角度坐标相关的奇异性。解决这些奇异性是本文的另一个关键重点。数值模拟结果用于证明所提出控制策略的有效性。
英文摘要：
This paper investigates the trajectory tracking problem of underactuated marine vessels within a polar coordinate framework. By introducing two polar coordinate transformations (PCTs), the original two-input-three-output second-order tracking model expressed in the Cartesian frame is reduced to a two-input-two-output feedback system. However, the resulting model does not necessarily satisfy the strict-feedback condition required by conventional backstepping approaches. To circumvent potential singularities arising in the controller design, a novel concept termed exponential modification of orientation (EMO) is proposed. While the PCTs yield substantial structural simplification, they also introduce inherent limitations, most notably singularities associated with angular coordinates. Addressing these singularities constitutes another key focus of this paper. Numerical simulation results are presented to demonstrate the effectiveness of the proposed control strategy.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
