水面无人艇航向的新型变结构全局快速终端滑模控制方法  

A new kind of variable structure global fast Terminal sliding mode control for unmanned surface vehicle course

作　　者：张晨 薛文涛[1] 侯小燕[1] ZHANG Chen;XUE Wentao;HOU Xiaoyan(School of Electronic and Infomlation,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,镇江212003

出　　处：《江苏科技大学学报（自然科学版）》2018年第3期383-387,413,共6页Journal of Jiangsu University of Science and Technology:Natural Science Edition

基　　金：国家自然科学基金资助项目(61203024)

摘　　要：针对喷水推进型水面无人艇的航向控制问题,采用一种新型变结构全局快速终端滑模控制方案.首先建立存在不确定外部扰动的无人艇非线性响应模型,然后结合普通线性滑模和传统终端滑模的思想和控制理论设计全局快速Terminal滑模控制器,最后进行Lyapunov稳定性证明和仿真.结果表明:利用该方法设计的控制器,提高了系统状态远离滑模面时的趋近性能,缩短了收敛时间,对外界干扰也具有很强的抑制能力,并且提高了无人艇航向的跟踪性和稳定性.A new kind of control method based on the variable structure global fast terminal sliding mode control（ VSGFTSMC） is proposed for the course control of water-jet-propelled unmanned surface vehicle（ USV）. Firstly,the nonlinear response model of the USV with uncertain external disturbances is established,and then the variable structure global fast terminal sliding mode controller is designed based on general linear sliding mode control thought and traditional terminal sliding mode control theories. Finally,the Lyapunov stability is proved for the designed controlled system. The simulation results indicate that the designed controller can improve the performance of the system approaches the state when the system state is away from the sliding surface and shorten the convergence time and strong suppression of external interference,and the tracking and stability of the course control of unmanned surface vehicle has been significantly improved.

关 键 词：无人艇 航向 变结构 全局快速 TERMINAL 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]