华侨大学学报（自然科学版）2024，Vol.45Issue(3)：324-331,8.DOI:10.11830/ISSN.1000-5013.202402012
速度矢量场二阶滑模无人艇引导律
Second-Order Sliding Mode Guidance Law in Velocity Vector Field for Unmanned Surface Vessel
摘要
Abstract
Aiming at factors such as unknown disturbances of course speed and course path,a second-order sliding mode guidance law in velocity vector field fof unmanned surface vessel(USV)is proposed in the paper.Firstly,kinematics and course angle dynamics models of USV are established.Secondly,the path error(ye)model is constructed,and the path error vector field based on course speed(Vg)is designed.The greater the speed,the smaller the change of course angle.Recombined with the second-order sliding mode surface,a ve-locity vector field second-order sliding mode USV guidance law is designed,and the stability of velocity vector field second-order sliding mode USV guidance law is analyzed considering the unknown disturbance factor △.The simulation results show that compared with the classical vector field,the velocity vector field achieves fas-ter course speed Vg with smaller course angle change rate and smoother vector field,which improves the navi-gation safety and stability of USV.The path tracking control system based on the second-order sliding mode guidance law in a velocity vector field exhibits enhanced robustness and higher accuracy in path following,which achieves path tracking with remarkable precision.关键词
无人水面艇/矢量场引导律/路径跟踪/滑模控制Key words
unmanned surface vessel/vector field guidance law/path following/sliding mode control分类
信息技术与安全科学引用本文复制引用
温锦元,黄宴委..速度矢量场二阶滑模无人艇引导律[J].华侨大学学报（自然科学版）,2024,45(3):324-331,8.基金项目
国家自然科学基金资助项目(51977040) （51977040）
福建省工业科技引导项目(2019H0007) （2019H0007）
