考虑扰动及模型不确定的无人船路径跟踪控制

针对外界扰动与模型不确定因素影响下的无人船路径跟踪控制问题,引入Serret-Frenet坐标系对无人船的路径跟踪问题进行数学描述,根据给定的期望跟踪路线与当前无人船的位置信息,利用李雅普诺夫直接法设计无人船航行速度与航向角度的期望值作为路径跟踪的虚拟控制律,通过设计滑模控制器实现对虚拟控制量的误差跟踪控制,通过设计切换函数避免无人船的控制量出现饱和或抖振现象,进而降低模型不确定及干扰对路径跟踪控制的影响。仿真实验表明,设计的控制器可在外界时变扰动与模型不确定的前提下完成对给定路线的理想跟踪。

Path Following Control of USV Considering Disturbance and Model Uncertainty

Aiming at the problem of path following control of USV under the influence of external disturbance and model uncertain?ty,Serret-Frenet coordinate system is introduced to describe the path tracking problem of USV.According to the given expected tracking route and current position information of USV,the expected value of speed and heading angle of unmanned ship is de?signed by Lyapunov direct method as the virtual path tracking The pseudo control law realizes the error tracking control of the virtu?al control variables by designing the sliding mode controller.The switching function is designed to avoid the saturation or chatter?ing of the control variables of the unmanned ship,so as to reduce the influence of model uncertainty and disturbance on the path tracking control.The simulation results show that the designed controller can complete the ideal tracking of a given route under the premise of external time-varying disturbance and model uncertainty.