单喷泵无人滑行艇航向的反步自适应滑模控制

Backstepping adaptive sliding mode control for an unmanned planning craft course system with single waterjet

针对单泵喷水推进型无人滑行艇航向跟踪的非线性系统控制问题,对无人滑行艇的运动稳定性分析表明,其具有水平面内的自动稳定性.考虑建模误差和外界干扰力影响下的滑行艇运动响应模型,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.

The course-tracking nonlinear control problem of an unmanned planning craft with single waterjet was addressed in this paper.Based on motion stability analysis of the unmanned planning craft,the system had automatic stability on the horizontal plane.Considering the motion response model affected by of the modeling errors and external disturbances,an adaptive sliding mode control law was proposed via the sliding mode control theory and backstepping method.By means of the Lyapunov function,it was proven that the proposed control law can render the course-tracking system globally asymptotically stable at the origin.Simulations results illustrate the effectiveness of the proposed method.