基于反演积分技术的无人驾驶水面飞行器的自动驾驶仪设计及其实验结果  

Autopilot Design for an Unmanned Surface Vehicle Based on Backstepping Integral Technique with Experimental Results

作　　者：Helmi Abrougui Samir Nejim 

机构地区：[1]Research Laboratory of Marine Technology and Naval Systems,Naval Academy,Menzel Bourguiba-7050,Tunisia

出　　处：《哈尔滨工程大学学报（英文版）》2023年第3期614-623,共10页Journal of Marine Science and Application

摘　　要：Controller tuning is the correct setting of controller parameters to control complex dynamic systems appropriately and with high accuracy.Therefore,this study addressed the development of a method for tuning the heading controller of an unmanned surface vehicle(USV)based on the backstepping integral technique to enhance the vehicle behavior while tracking a desired position for water monitoring missions.The vehicle self-steering system(autopilot system)is designed theoretically and tested via a simulation.Based on the Lyapunov theory,the stability in the closed-loop system is guaranteed,and the convergence of the heading tracking errors is obtained.In addition,the designed control law is implemented via a microcontroller and tested experimentally in real time.Conclusion,experimental results were carried out to verify the robustness of the designed controller when disturbances and uncertainties are introduced into the system.

关 键 词：Unmanned surface vehicle Autopilot system design Control law tuning Heading controller Backstepping integral control 

分 类 号：U666.1[交通运输工程—船舶及航道工程]