哈尔滨工程大学学报2012，Vol.33Issue(5)：585-589,5.DOI:10.3969/j.issn.1006-7043.201109055
欠驱动水面船舶的非线性滑模轨迹跟踪控制
Nonlinear sliding mode tracking control of underatuated surface vessels
摘要
Abstract
Considering the model parametric uncertainties and time-varying disturbances induced by waves, wind, and ocean-current in the trajectory tracking control of a 3 degree-of-freedom (3DOF) underactuated surface vessel, a novel nonlinear sliding mode control law was designed using sliding mode techniques, in view of the sliding mode' s robustness in anti- system uncertainties and environmental disturbances. According to the inherent characteristics of underactuated surface vessels, there were no side thrasters in the sway direction, and in order to control the ships 3DOF plane motion in surge, sway, and yaw directions, the control law was developed by introducing a first order sliding surface in terms of surge tracking errors and a second order sliding surface in terms of lateral motion tracking errors. Numerical simulation results show that the proposed controller is strongly robust regarding the uncertain parameters and disturbances, and can force the vessel to track a desired trajectory which is generated by a virtual ship.关键词
欠驱动水面船舶/参数不确定性/非线性积分/滑模控制/轨迹跟踪Key words
underactuated surface vessels/ parameters uncertainties/ nonlinear integral/ sliding mode control/tracking control分类
信息技术与安全科学引用本文复制引用
孟威,郭晨,孙富春,刘杨..欠驱动水面船舶的非线性滑模轨迹跟踪控制[J].哈尔滨工程大学学报,2012,33(5):585-589,5.基金项目
国家自然科学基金资助项目(61074053) （61074053）
交通运输部交通应用基础研究基金资助项目(2011-329-225-390) （2011-329-225-390）
