面向回收任务的无人艇自适应级联跟踪控制  

Adaptive cascade tracking control of USV for recovery task

作　　者：郭文轩 唐国元[1] 赵帆 王泉斌[2] 孙江龙[1] 乔瑜[3] GUO Wenxuan;TANG Guoyuan;ZHAO Fan;WANG Quanbin;SUN Jianglong;QIAO Yu(School of Naval Architecture and Ocean Engineering,Huazhong University of Science and Technology,Wuhan 430074,China;China Ship Development and Design Center,Wuhan 430064,China;School of Energy and Power Engineering,Huazhong University of Science and Technology,Wuhan 430074,China)

机构地区：[1]华中科技大学船舶与海洋工程学院,湖北武汉430074 [2]中国舰船研究设计中心,湖北武汉430064 [3]华中科技大学能源与动力工程学院,湖北武汉430074

出　　处：《中国舰船研究》2023年第5期111-120,共10页Chinese Journal of Ship Research

基　　金：“慧眼行动”创新成果转化应用项目(626020204)。

摘　　要：[目的]针对当前艉滑道式回收技术中的高精度回收引导控制要求,提出一种面向艉滑道回收的无人艇(USV)自适应级联跟踪控制方法。[方法]建立欠驱动无人艇运动模型,基于艉滑道式回收技术要求,利用滤波算法实现对母船航行状态和回收位姿的预测;引入平行接近制导思想,结合滑模变结构控制理论,构建出稳定的级联控制系统,以解决无人艇回收过程中的跟踪控制问题。[结果]通过采用李雅普诺夫理论和级联定理分析系统的稳定性,证明无人艇能够稳定跟踪目标。[结论]仿真结果表明,所提控制方法可使无人艇具有稳定的跟踪性能,且对不确定性干扰表现出较强的鲁棒性。[Objectives]Aiming at the high-precision recovery guidance control requirements of current stern ramp recovery technology,a self-adaptive cascade tracking control method for unmanned surface vessels(USVs)is proposed specifically for stern ramp recovery.[Methods]Based on the technical requirements of stern ramp recovery,a motion model of an underactuated USV is established,and the generalized Kalman filter(GKF)algorithm is used to predict the navigation state and recovery position of the mother ship.Introducing the idea of constant bearing guidance combined with the sliding mode variable structure control theory,a stable cascade control system is constructed to solve tracking control problems during the recovery process.[Results]It is proven that the USV can stably track the target,by analyzing the stability of the system through the Lyapunov theory and cascade theorem.[Conclusions]The simulation results show that the proposed control method gives the USV stable tracking performance and strong robustness against uncertain disturbances.

关 键 词：艉滑道式回收 欠驱动无人艇 广义卡尔曼滤波 平行接近制导 自适应滑模控制 

分 类 号：U661.33[交通运输工程—船舶及航道工程]