基于浸入与不变的无人艇航向的滑模控制  

Backstepping Sliding Mode Control for Unmanned Surface Vehicle Course Based on Immersion and Invariance

作　　者：张晨 薛文涛[1] 侯小燕[1] ZHANG Chen;XUE Wen-tao;HOU Xiao-yan(School of Electronic Information, Jiangsu University of Science and Technology, Zhenjiang 212003, China)

机构地区：[1]江苏科技大学电子信息学院

出　　处：《控制工程》2018年第5期943-948,共6页Control Engineering of China

基　　金：国家自然科学基金项目(61203024)

摘　　要：针对喷水推进型水面无人艇的航向控制问题,提出一种基于系统浸入与流形不变的自适应反演滑模控制方法。首先建立存在不确定外部扰动的无人艇非线性响应模型,然后结合反演思想和滑模控制理论设计了自适应Super-Twisting反演滑模控制器,其中,自适应扰动估计的设计采用浸入与不变方法,在系统整体自适应律中加入额外补偿项并建立扰动估计误差流形,通过自适应律的设计来保证误差流形的不变及吸引,从而保证扰动估计误差的收敛,最后进行了Lyapunov稳定性证明和仿真。结果表明,利用该方法设计的控制器外部扰动估计准确,无人艇航向的控制优于自适应反演滑模控制。For the course control question of unmanned surface vehicle（USV） with water-jet-propelled, a method of adaptive backstepping sliding mode control（SMC） based on system immersion and manifold invariant（I＆I） is proposed in the article. Firstly, the nonlinear response model of the USV with uncertain external disturbances is established, then the adaptive super-twisting backstepping sliding mode controller is designed based on backstepping thought and sliding mode control theories. Where, the I＆I method is used to design the adaptive disturbance estimation, the additional compensation item is brought into the whole adaptive law and the disturbance estimation error manifold is established, using the designed adaptive law to ensure the invariability and attraction of the error manifold, so the convergence of the disturbance estimation error can be guaranteed. Finally, the Lyapunov stability is proved for the designed controlled system. The simulation results indicate that the designed controller can estimate the external disturbance accurately, the course control of USV is superior to the classical adaptive sliding mode control.

关 键 词：无人艇 航向 浸入与不变 反演 自适应 super-twisting 滑模 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]