喷水推进无人艇航向的鲁棒S面控制方法

Robust S surface method for course control of USV with water-jet propulsion

针对喷水推进型无人艇航向非线性系统的控制问题,考虑到模型摄动和环境干扰力等不确定性的影响。借鉴鲁棒补偿器思想,对基本S面控制方法进行改进,提出一种鲁棒S面控制方法。利用Lyapunov稳定性理论,证明该控制方法保证了航向控制系统的鲁棒稳定性。仿真对比结果验证了所提出控制方法的有效性。

The course nonlinear control problem of the unmanned surface vehicle(USV) with water-jet-propelled was addressed,and considering the influence of model perturbation and environmental disturbances.A robust S surface control law was developed by introducing a robust compensator into the S surface control method.By means of Lyapunov function,it is proven that the proposed control law can render the course control system robust stable.Simulations results illustrate the effectiveness of the proposed method.