具有时变时滞的数据采样无人船舵减摇系统稳定性分析

本文研究了基于数据采样的无人船舵减摇闭环控制系统的稳定性.考虑到采样过程存在延迟现象，引用动态时滞区间的方法，构造相应的Lyapunov-Krasovskii泛函（LKF）.此方法将固定时滞区间扩展成为动态时滞区间，不仅放宽了时滞区间上界和下界的限制，还能同时获得基于线性矩阵不等式（LMI）的更小保守性的相关稳定性判据.最终可以获得一个更宽松的标准来分析基于数据采样的无人船舵减摇闭环控制系统的稳定性.最后，举例说明了所提出方法的有效性.

Stability analysis for a sampled-data rudder roll system of an unmanned surface vehicle with time-varying delay

This paper is concerned with the stabilization of sampled-data-based unmanned surface vehicle (USV)rudder roll closed-loop control system.Considering the delay in the sampling process,we discuss the dynamic delay interval method and construct a corresponding Lyapunov-Krasovskii function (LKF).This method extends the fixed interval to a dynamic interval,which not only relaxes the restriction of upper and lower bounds to the delay interval but also can obtain a much less conservative delay-dependent stability criterion based on linear matrix inequality (LMI).Therefore,one can obtain a much more relaxed criterion to analyze the stability of a sampled-data-based USV rudder roll closed-loop control system.To this end,an example is given to illustrate the effectiveness of the proposed method.