中国舰船研究2025，Vol.20Issue(1)：247-262,16.DOI:10.19693/j.issn.1673-3185.03517
基于超螺旋滑模观测的变质量无人艇航速自适应控制
Adaptive surge control of variable-mass unmanned surface vehicle based on super-twisting sliding mode observation
摘要
Abstract
[Objective]This paper presents a novel approach to the precise control of variable mass un-manned surface vehicles(USVs)during payload deployment tasks,addressing the control challenges caused by unpredictable variations in both mass and draught.The primary objective is to propose an adaptive control method that can effectively adapt to these unknown variations in mass and draught,thereby ensuring the stable and reliable operation of the USV under complex and dynamic mass conditions.[Method]First,regarding to the motion modeling of variable-mass USVs,this study analyzes the impact mechanism of mass variations on the hydrodynamic characteristics of the vehicle.It also analyzes how these variations,through changes in the parameters of the dynamic model,affect the vehicle's motion state.To address the issue that current con-troller design models are insufficient in analytically and intuitively representing this coupling influencing pro-cess,we use the draught term as the reference variable.The progressive coupling relationships among draught and the mass term,added mass term,added moment of inertia term,and various hydrodynamic derivatives are systematically analyzed.Based on this analysis,the mathematical model for the maneuvering motion of the variable-mass USV is then constructed.Secondly,to design an effective estimation method,a super-twisting sliding mode observer is proposed for estimating the unknown draught and mass of the variable-mass USV.This method is based on an analysis of the coupling relationships between mass variations and the vehicle's motion state and control inputs,as described in the maneuvering model of the USV.Subsequently,addressing the motion control problem of variable-mass USVs under unknown mass variations,we propose an adaptive speed control strategy based on the sliding mode observer.Specifically,leveraging the maneuvering motion mathematical model of the variable-mass USV and the draught observations from the sliding mode observer,a feedback linearization method is used to design the adaptive speed control algorithm.The asymptotic stability of the proposed control algorithm is proved using the Lyapunov theory.[Results]A series of simulation ex-periments are conducted to validate the proposed method.In the mass step-change observation experiment,the super-twisting sliding mode observer demonstrates satisfactory performance.Compared to the traditional slid-ing mode observer,the average observation errors of the draught and mass are significantly reduced by 43.75%and 43.76%,respectively.Furthermore,it shows rapid convergence when mass changes occur suddenly.In the continuous mass change observation experiment,the observer also performs excellently,exhibiting fast con-vergence and high accuracy,thus demonstrating significant advantages compared to the traditional observer.The speed control experiments reveal that the designed adaptive speed control algorithm can stably track the target speed under both mass step-change and continuous-change conditions.Although it may require slightly more adjustment time compared to the traditional Backstepping controller,it offers significant advantages in handling variations in mass and draught,achieving superior control performance.In the environmental disturb-ance experiment,while the adaptive control algorithm maintains stable speed control,demonstrating a certain degree of robustness,it also highlights the need for further improvement in the draught observation method to enhance its disturbance rejection capabilities.[Conclusions]The control algorithm proposed in this paper is well-suited for control scenarios involving unknown mass variations,such as payload launch or agricultural dispensing operations.Future research should focus on mitigating the impact of external environmental dis-turbances on observation accuracy and enhancing the robustness of the observation algorithm to better handle such disturbances.关键词
无人艇/变质量/变质量体控制/超螺旋滑模观测器/自适应控制系统/航速控制/吃水观测Key words
unmanned vehicles/variable-mass/variable mass control/super-twisting sliding mode observer/adaptive control system/surge control/draft observation分类
交通运输引用本文复制引用
闫昭琨,杨冠宇,王鸿东..基于超螺旋滑模观测的变质量无人艇航速自适应控制[J].中国舰船研究,2025,20(1):247-262,16.基金项目
国家自然科学基金资助项目(52271348) （52271348）
政府间国际科技创新合作项目(2022YFE0125200) （2022YFE0125200）
