基于广义逆和滑模的欠驱动无人艇跟踪控制  

Generalized dynamic inverse and sliding mode tracking control of underactuated unmanned vehicle

作　　者：胡芳芳 曾超[1] 祝刚[1] 李世玲[1] HU Fangfang;ZENG Chao;ZHU Gang;LI Shiling(Institute of Electronic Engineering,China Academy of Engineering Physics,Mianyang Sichuan 621999,China)

机构地区：[1]中国工程物理研究院电子工程研究所,四川绵阳621999

出　　处：《太赫兹科学与电子信息学报》2022年第11期1130-1136,共7页Journal of Terahertz Science and Electronic Information Technology

摘　　要：针对具有非对角惯性矩阵和阻尼矩阵的欠驱动无人水面艇(USV)进行了轨迹跟踪控制方法的研究,提出了基于广义动态逆和滑模变结构理论的控制器,实现了闭环系统全局渐近稳定。同时,通过引入动态尺度逆克服动态广义逆可能导致的系统奇异,通过扰动零投影矩阵来避免零投影矩阵的不可逆问题。最后,通过Matlab/Simulink仿真证明了本文方法的有效性。The trajectory tracking control of Underactuated Surface Vehicles(USV)with nondiagonal inertia matrix and damping matrix is studied.The global asymptotic stability of the closed-loop system is achieved by using the controller based on generalized dynamic inverse and sliding mode variable structure method.At the same time,the system singularity caused by dynamic generalized inversion is overcome by introducing dynamic scale inverse.Since zero projection matrix is not invertible,disturbing zero projection matrix is applied.Finally,the effectiveness of this method is proved by Matlab/Simulink simulation.

关 键 词：欠驱动无人艇 轨迹跟踪控制 广义动力学逆 滑模面 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]