速度矢量场二阶滑模无人艇引导律OACSTPCD

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.