基于时延估计与终端滑模的无人船跟踪控制  

Unmanned surface vehicle tracking control based on time delay estimation and terminal sliding mode

作　　者：刘超[1] 叶华生 沈跃[1] 刘慧[1] 沈亚运 Liu Chao;Ye Huasheng;Shen Yue;Liu Hui;Shen Yayun(College of Electrical and Information Engineering,Jiangsu University,Zhenjiang 212013,China)

机构地区：[1]江苏大学电气信息工程学院,镇江212013

出　　处：《电子测量技术》2025年第4期91-100,共10页Electronic Measurement Technology

基　　金：中国高校产学研创新基金-无人集群协同智能项目(2021ZYB02002)资助。

摘　　要：针对欠驱动无人船动力学模型参数获取困难、跟踪控制易受水流及自然风等干扰的问题,本文提出了一种基于自适应时延估计与超螺旋快速终端滑模的轨迹跟踪控制方法。首先通过手部位置点坐标变换方法,对欠驱动无人船数学模型进行状态扩展重新构建;然后采用自适应时延估计技术,估计无人船未知动力学模型部分及外部扰动,并设计超螺旋快速终端滑模控制策略补偿时延估计产生的误差,提高控制系统鲁棒性;最后,基于仿真分析与航行跟踪实验验证本研究控制方法可行性。在航行跟踪实验中,位置平均误差相比于PID算法、滑模算法及自适应时延估计滑模算法分别降低了35.1%、24.7%、20.8%,轨迹跟踪精度高。本文提出的控制方法不依赖动力学模型参数,可实现欠驱动无人船精准轨迹跟踪控制,且收敛速度快、鲁棒性高,为欠驱动无人船轨迹跟踪控制提供了可供借鉴的方法。To solve the problem of difficulty in obtaining the parameters of the dynamic model of underactuated unmanned surface vehicle,and the tracking control is susceptible to interference from water flow and natural wind,this paper proposes a trajectory tracking control method based on adaptive time delay estimation and super-twisting fast terminal sliding mode.First,the hand position point coordinate transformation method is used to reconstruct the state expansion of the underactuated unmanned surface vehicle mathematical model;then adaptive time delay estimation technology is used to estimate the unknown dynamic model part of the unmanned surface vehicle and external disturbances,and design a super-twisting fast terminal sliding mode control strategy compensates for errors caused by time delay estimation and improves the robustness of the control system;finally,the feasibility of the control method in this study is verified based on simulation analysis and navigation tracking experiments.In the trajectory tracking experiment,the average positional error was reduced by 35.1%,24.7%,and 20.8%compared to the PID algorithm,sliding mode algorithm,and adaptive delay estimation sliding mode algorithm,respectively,demonstrating high trajectory tracking accuracy.The control method proposed in this paper does not rely on the parameters of the dynamic model and can achieve precise trajectory tracking control for underactuated unmanned surface vehicles.It features fast convergence speed and high robustness,providing a reference method for trajectory tracking control of underactuated unmanned surface vehicles.

关 键 词：欠驱动无人船 自适应时延估计 超螺旋快速终端滑模控制 轨迹跟踪控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TN79[自动化与计算机技术—控制科学与工程]