喷水推进型无人艇航向跟踪的反步自适应滑模控制*

针对单泵喷水推进型无人滑行艇的航向跟踪非线性系统,提出了一种反步自适应滑模控制方法。该系统由无人艇运动非线性响应模型和舵机伺服系统组成,并考虑运动响应模型的建模误差、外界干扰力等非匹配不确定性,利用全局微分同胚坐标变换将原系统变换为具有下三角特征的非线性系统。基于Backstepping方法和滑模控制理论,提出了一种自适应滑模控制律;利用Lyapunov函数,证明该控制律保证了航向跟踪系统的全局渐近稳定性。仿真对比结果验证了所提出控制器的有效性。

Backstepping adaptive sliding mode control for unmanned surface vessel course tracking with water-jet-propelled

This paper presented a method of Backstepping adaptive sliding mode control for the course tracking nonlinear system of the unmanned hydroplane with single water-jet-propelled. The autopilot system consisted of the nonlinear ship response model and the rudder actuator dynamics. The motion response model took account of the modeling errors and external disturbances. It transformed the original system into a nonlinear system based on global diffeomorphism change of coordinate. And propsed an adaptive sliding mode control law based on sliding mode control theory and Backstepping method. By means of Lyapunov function, it proved that the proposed control law could render the course tracking system globally asymptotically stable. Simulations results illustrate the effectiveness of the proposed method.