欠驱动船舶直线航迹的滑模控制方法

Sliding-mode straight-ine tracking control for underactuated vessels

针对一类欠驱动水面船舶的直线航迹跟踪控制问题,考虑运动响应模型的建模误差和外界干扰力等非匹配不确定性影响,基于滑模控制理论和Backstepping法,提出了一种反步自适应滑模控制律.借鉴Backstepping法的设计思想,利用一种改进积分型的滑模控制方法和自适应技术,设计了直线航迹跟踪控制的滑模控制律,并证明该控制律保证了航迹跟踪系统的全局渐进稳定性.最后,仿真对比结果验证了所提出控制器的有效性.

The straight-line tracking control problem of underactuated surface vessels was addressed in this paper;the modeling errors and external disturbances of the motion response model were considered. A backstepping adaptive sliding-mode control law was proposed based on the sliding-mode theory and Backstepping method. Referring to the ideas of the backstepping method, a sliding-mode control law was developed by the method of improved integral sliding-mode control method and adaptive technique, and proved that the path tracking control system is globally asymptotically stable. Simulation results illustrated the effectiveness of the proposed method.