速度矢量场二阶滑模无人艇引导律  

Second-Order Sliding Mode Guidance Law in Velocity Vector Field for Unmanned Surface Vessel

作　　者：温锦元 黄宴委[1] WEN Jinyuan;HUANG Yanwei(College of Electrical Engineering and Automation,Fuzhou University,Fuzhou 350116,China)

机构地区：[1]福州大学电气工程及自动化学院,福建福州350116

出　　处：《华侨大学学报（自然科学版）》2024年第3期324-331,共8页Journal of Huaqiao University(Natural Science)

基　　金：国家自然科学基金资助项目(51977040);福建省工业科技引导项目(2019H0007)。

摘　　要：针对航速和航道未知扰动等因素,提出一种速度矢量场二阶滑模无人水面艇(USV)引导律。首先,建立无人艇运动学和航向角动力学模型;其次构造路径误差(y_(e))模型,设计基于航速(V_(g))的路径误差矢量场,速度越大,航向角变化越小;再结合二阶滑模面设计一种速度矢量场二阶滑模无人艇引导律,并考虑未知扰动因素Δ分析速度矢量场二阶滑模无人艇引导律的稳定性。仿真结果表明:相比于经典矢量场,速度矢量场有效实现航速V_(g)越快,航向角变化率越小,矢量场越平缓,提高了USV航行安全性和稳定性;基于速度矢量场二阶滑模无人艇引导律的路径跟踪控制系统鲁棒性更强,路径跟踪准确度更高,能够较好地完成路径跟踪。Aiming at factors such as unknown disturbances of course speed and course path,a second-order sliding mode guidance law in velocity vector field fof unmanned surface vessel(USV)is proposed in the paper.Firstly,kinematics and course angle dynamics models of USV are established.Secondly,the path error(y_(e))model is constructed,and the path error vector field based on course speed(V_(g))is designed.The greater the speed,the smaller the change of course angle.Recombined with the second-order sliding mode surface,a velocity vector field second-order sliding mode USV guidance law is designed,and the stability of velocity vector field second-order sliding mode USV guidance law is analyzed considering the unknown disturbance factorΔ.The simulation results show that compared with the classical vector field,the velocity vector field achieves faster course speed V_(g) with smaller course angle change rate and smoother vector field,which improves the navigation safety and stability of USV.The path tracking control system based on the second-order sliding mode guidance law in a velocity vector field exhibits enhanced robustness and higher accuracy in path following,which achieves path tracking with remarkable precision.

关 键 词：无人水面艇 矢量场引导律 路径跟踪 滑模控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]