24
23413567
1.
ψ [deg]
l [m]
[1]
2.2
PID
f ( x ) = ax 3 + bx 2 + cx + d
(1)
ω n2
( s 2 + 2ξω n s + ω n2 ) n
(2)
[3]
hf =
3.
3.1
T r& + r = K δ
(3)
s
2 t
s = ψ~& + 2 λ ψ~ + λ ∫ ψ~ ( t ) d τ
0
[4]
ψ~ = ψ − ψ
λ
d
(4)
Ψ d:
[deg]
2.
2.1
s& = − Qsat
X
u
B
Y
l [m]
B
”
Fig. 1
Fig. 1
u [m/s] v [m/s]
T
K
r& +
1
K
r − Q sgn (s ) − K s s
T K
A
Y
[m]
δ =
”
A
K ss
(5)
δ
ψ
Fig. 1
(s ) −
3.2
3.2.1
X [m] Y
Q Ks
(6)
24
4.2
Fig. 3
y
lc
l − y (t ) > l − lc
l − y (t ) ≤ l − l c
Q = Q0,K
s
= K
s0
(7)
Q = Q1 , K
s
= K
s1
(8)
3.2.2
Fig. 3
5.
s& ( t ) = − Q ( t ) ⋅ s ( t ) − Ks ( t ) ⋅ sig ( s )
Q& ( t ) = Q~ s ( t ) ⋅ sig ( s ( t ) − ε )
K& s ( t ) = K~s s ( t ) ⋅ sig ( s ( t ) − ε )
(9)
(10)
(11)
3.3
(xr k+1 yr k+1)
x
ψr
Δ
ψC
(xr k yr k)
ψd
e
y
(x y)
Fig. 2
Fig. 2
[5]
[deg] Ψc
[deg] ∆
[m] Ψr
[deg] Ψd
[m]
Fig.2
e
[1]
196
99-104 (2004)
[2]
(1994)
[3] Leonid Fridman
4.
4.1
Jaime Moreno
Rafael Iriarte
Sliding
Modes after the First Decade of the 21st Century Springer
(2011)
10
150m
.
2
[4] Thor I. Fossen
Handbook of Marine Craft Hydrodynamics
and Motion Control
John Wiley & Sons
(2011)