基于改进终端滑模控制的USV航向跟踪控制方法  

A USV Heading Tracking Control Method Based on Improved Terminal Sliding Mode Control

作　　者：伊戈 刘忠[1] 张建强 董蛟 YI Ge;LIU Zhong;ZHANG Jianqiang;DONG Jiao(College of Weaponry Engineering,Naval University of Engineering,Wuhan 430000,China)

机构地区：[1]海军工程大学兵器工程学院,武汉430000

出　　处：《电光与控制》2020年第10期12-16,21,共6页Electronics Optics & Control

基　　金：国家“十三五”预研项目;中国博士后基金(45686);湖北省自然科学基金(2018CFC865)。

摘　　要：针对喷水推进型无人艇(USV)在水平面内的航向控制问题,提出了一种改进的终端滑模控制方法。首先,建立了无人艇的Norrbin模型,在此模型基础上设计了一种基于终端滑模控制的航向控制器,同时,为了缓解滑模控制带来的抖振问题,引入了S型生长曲线函数对传统指数趋近率进行改进,并借助Lyapunov方法证明了控制系统的稳定性;之后,通过Matlab仿真实验验证了控制算法的正确性;最后,利用自主研发的“海鳐01”号无人艇对所设计的航向跟踪控制算法进行湖上实船试验,结果验证了该算法在实际工程中应用的可行性。Aiming at the problem of heading control of water-jet propulsion type Unmanned Surface Vehicle(USV)in the horizontal plane,an improved terminal sliding mode control method is proposed.Firstly,the Norrbin model of USV is established.Based on this model,a heading controller based on terminal sliding mode control is designed.At the same time,in order to alleviate the chattering problem brought by sliding mode control,the Sigmoid function is introduced for improving the traditional exponential approaching rate,and the stability of the control system is proved by the Lyapunov method.After that,the correctness of the control algorithm is verified by Matlab simulation experiment.The“Haiyao 01”independently developed by our research group has been used for carrying out a real ship experiment on the lake for the designed heading tracking control algorithm.The experimental results verify the feasibility of the algorithm in practical engineering.

关 键 词：无人艇 终端滑模控制 S型生长曲线函数 航向跟踪 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]