基于改进超螺旋滑模控制的USV自适应操纵控制算法  

Adaptive Maneuvering Control Algorithm of USV Based on Improved Super-Twisting Sliding Mode Control

作　　者：骆庆焕 祝贵兵 LUO Qinghuan;ZHU Guibing(Guangdong Neilingding Futian National Nature Reserve Administration,Shenzhen 518040,Guangdong,China;School of Naval Architecture and Maritime,Zhejiang Ocean University,Zhoushan 316022,Zhejiang,China)

机构地区：[1]广东内伶仃福田国家级自然保护区管理局,广东深圳518040 [2]浙江海洋大学船舶与海运学院,浙江舟山316022

出　　处：《造船技术》2025年第1期72-77,共6页

基　　金：浙江省自然科学基金(编号:LY21E090005)。

摘　　要：针对无人水面艇(Unmanned Surface Vessel,USV)的自适应操纵控制问题,提出一种基于改进超螺旋滑模控制的USV自适应操纵控制算法。建立USV的运动数学模型。考虑USV的欠驱动特性,建立基于输出重定义的误差动态系统。为增强控制器的稳健性并削弱滑模控制导致的抖振影响,设计改进超螺旋滑模控制器,提高操纵控制系统的瞬态性能和稳态性能。针对复合扰动导数上界未知的情况,利用参数自适应技术对控制器参数进行估计。利用李雅普诺夫函数证明闭环系统的稳定性,采用数值仿真进行操纵控制性能验证。仿真结果表明,所提出的操纵控制算法具有良好的操纵控制性能,并可减轻抖振现象。In view of the adaptive maneuvering control problem of Unmanned Surface Vessel(USV),an adaptive maneuvering control algorithm of USV based on improved super-twisting sliding mode control is proposed.The motion mathematical model of USV is established.According to the underactuated characteristic of USV,a dynamic error system based on output redefinition is established.In order to enhance the robustness of the controller and reduce the buffet influence caused by sliding mode control,the improved super-twisting sliding mode controller is designed to increase the transient state performance and steady state performance of maneuvering control system.In view of the case where the upper bound of composite perturbation derivative is unknown,the controller parameters are estimated with the parameter adaptive technique.The stability of closed-loop system is proved by Lyapunov function,and the performance verification of maneuvering control is conducted with numerical simulation.The simulation results show that the proposed maneuvering control algorithm is of good maneuvering control performance and can reduce the buffet phenomenon.

关 键 词：无人水面艇 自适应操纵控制 改进超螺旋滑模控制 改进超螺旋滑模控制器 运动数学模型 输出重定义 抖振 李雅普诺夫函数 

分 类 号：U661.334[交通运输工程—船舶及航道工程]