非完全对称欠驱动无人艇的自适应滑模轨迹跟踪控制  

Adaptive sliding mode trajectory tracking control of incomplete symmetry underactuated USV

作　　者：钟雨轩 翁磊[2] 梁旭 ZHONG Yu-xuan;WENG Lei;LIANG Xu(School of Computer Engineering and Science,Shanghai University,Shanghai 200444,China;CSSC Systems Engineering Research Institute,Beijing 100094,China)

机构地区：[1]上海大学计算机工程与科学学院,上海200444 [2]上海大学机电工程与自动化学院,上海200444 [3]中国船舶工业系统工程研究院,北京100094

出　　处：《舰船科学技术》2020年第17期92-98,共7页Ship Science and Technology

基　　金：科技部重点研发计划(2018YFF0103400)。

摘　　要：本文研究了一类非完全对称欠驱动无人艇的轨迹跟踪控制问题,考虑无人艇系统惯性矩阵与阻尼矩阵的非对称项,首先通过采用全局微分同胚变换简化模型;其次在简化后的模型上将轨迹跟踪问题转变为跟踪误差镇定问题;接着利用自适应滑模方法和李雅普诺夫直接法设计出误差镇定控制器,该控制器能够实现非完全对称欠驱动无人艇对直线轨迹和曲线轨迹的跟踪;最后通过仿真实验验证了控制器的有效性。The trajectory tracking control problem for a class of incompletely symmetric underactuated unmanned boats is studied in this paper.Considering the asymmetry term of the inertial matrix and damping matrix of the USV system,the model is simplified by global differential homeomorphic transformation firstly;the trajectory tracking problem is transformed into tracking error stabilization problem then.After that,the adaptive sliding mode method and Lyapunov direct method are used to design the controller which can finish the tracking of both linear trajectory and curve trajectory;finally,the effectiveness of the controller is verified by simulation experiments.

关 键 词：非完全对称 欠驱动控制 轨迹跟踪 自适应滑模 全局微分同胚变换 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]