高技术通讯2013，Vol.23Issue(6)：598-604,7.DOI:10.3772/j.issn.1002-0470.2013.06.008
欠驱动无人艇直线航迹跟踪的反步自适应动态滑模控制
Backstepping adaptive dynamical sliding mode control of the straight-line trajectory tracking of underactuated unmanned surface vessels
摘要
Abstract
A method for backstepping adaptive dynamical sliding mode control was studied for underactuated water jetpropulsion unmanned surface vessels' straight-line trajectory system consisting of the nonlinear ship response model and the rudder actuator dynamics under the circumstances of taking account of the modeling parameters' uncertainty and external disturbances.Firstly,the original system was transformed into a nonlinear system based on a global diffeomorphism change of coordinate.And then,a backstepping adaptive dynamical sliding mode controller was proposed based on the backstepping design method and the theory of dynamical sliding mode control.Finally,it was proved by means of the Lyapunov stability theory that under the proposed controller the straight-line trajectory control system was globally,asymptotically stable.The simulation comparison results verified that the proposed controller was robust and adaptive to the model perturbation and external disturbances.关键词
欠驱动/无人艇(USV)/航迹跟踪/动态滑模控制/反步Key words
underactuated/unmanned surface vessel (USV)/trajectory tracking/dynamical sliding mode control/backstepping引用本文复制引用
廖煜雷,常文田,刘涛..欠驱动无人艇直线航迹跟踪的反步自适应动态滑模控制[J].高技术通讯,2013,23(6):598-604,7.基金项目
863计划(2008AA092301)和中央高校基本科研业务费专项资金(HEUCF1321003,13CX02049A)资助项目. （2008AA092301）
