广东海洋大学学报2025，Vol.45Issue(2)：118-129,12.DOI:10.3969/j.issn.1673-9159.2025.02.015
基于反步滑模法的欠驱动双无人艇协同拖曳系统靠泊控制
Berthing Control of a Double Underactuated Unmanned Surface Vessel by Cooperative Towing Aystem Based on Backstepping Sliding Mode Method
摘要
Abstract
[Objective]To address the problem of trajectory planning and tracking control in the berthting and recovery process of an unpowered unmanned surface vessel(USV)collaboratively towed by two underactuated USVs under disturbances and model uncertainties,and to improve control efficiency and tracking accuracy,a collaborative berthing method for the two underactuated USVs based on virtual vessel guidance is proposed.[Method]Firstly,the desired trajectory of the towed vessel and the required total towing force and torque were planned through virtual ship path tracking control,and external disturbances and model errors were compensated for using an extended state observer(ESO).Then,the sequential quadratic programming(SQP)method was employed to solve the optimal allocation problem of towing forces and torques between the two USVs for the towed vessel,and smooth feasible desired trajectories for the two USVs were derived based on the towing model and geometric relationships.Finally,a backstepping sliding mode trajectory tracking controller was designed for the underactuated towing USVs.For the position and heading angle subsystems,the virtual desired linear and angular velocities were calculated using the backstepping method to achieve pose tracking.For the velocity subsystem,the sliding mode controller was utilized to accomplish velocity tracking,enabling the two USVs to follow their respective desired trajectories and tow the vessel to complete the berthing process.The global asymptotic stability of the system under bounded disturbances was proven using Lyapunov functions.[Result]Simulation results demonstrate that under certain disturbances and model uncertainties,the towed vessel asymptotically converges to the desired berth with an average position error of 0.05 m and an average heading error of 0.08°,through trajectory tracking control by the two cooperating USVs.Compared with the longitudinal backstepping control and yaw sliding mode control methods,the proposed method achieves up to a 50%improvement in control efficiency,a 44%reduction in average position error,and a 33%reduction in average heading error.[Conclusion]The proposed berthing strategy and control method for the double USV cooperative towing system demonstrates good effectiveness and robustness,providing a new foundation for research on USV towing control.关键词
欠驱动水面无人艇/辅助靠泊/协同拖曳/反步滑模控制/轨迹跟踪Key words
underactuated unmanned surface vessel/assisted berthing/cooperative towing/backstepping sliding mode control/trajectory tracking分类
交通工程引用本文复制引用
王成龙,郑翔,王建华,吴恭兴,钱建华..基于反步滑模法的欠驱动双无人艇协同拖曳系统靠泊控制[J].广东海洋大学学报,2025,45(2):118-129,12.基金项目
国家自然科学基金(52271322) （52271322）
