| 一种非线性路径跟踪方法的应用 |
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| 作者姓名： | 刘来华 |
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| 作者单位： | 中国船船重工集团有限公司第七一O研究所,湖北 宜昌 443003 |
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| 基金项目： | 国家海洋可再生能源专项基金( GHME2012GC01 )资助课题。 |
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| 摘 要： | 针对无人驾驶载具在路径跟踪过程中容易受到环境外力干扰的问题，介绍了一种路径跟踪方法。对该方法进行了系统仿真和试验测试，与传统的线性PID控制算法进行了效果对比。结果显示:非线性算法具有较好的动态性能，并且可以减小环境干扰下的路径跟踪偏差，有效克服环境干扰作用。
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| 关 键 词： | 路径跟踪 非线性 抗扰动 控制精度 |
Application of a Nonlinear Path Tracking Method |
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| Authors: | Liu Laihua |
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| Institution: | No.71 0. R&D Institute, CSIC, Yichang 443003 , China |
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| Abstract: | In order to solve the problem that unmanned vehicles are easily influenced by external environmentdisturbances during the process of path tracking, this paper proposes a path tracking method. System simulations andtests are carried out for this method, and it is compared with the effect of traditional linear PID control algorithm.Results show that nonlinear algorithm not only has better dynamic performance, but also can reduce path trackingerror under environmental disturbance and overcome disturbance effectively. |
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