水中灵巧弹药在水平面内的路径跟踪控制

Trajectory Tracking Control of Underwater Smart Ammunition in Horizontal Plane

研究水中灵巧弹药在水平面内的路径跟踪控制问题,建立了水中灵巧弹药在水平面内的运动学和动力学模型。通过引入"到达角"的概念,基于李雅普诺夫稳定理论和反步法技术分别设计了运动学和动力学控制律,并证明了所设计的非线性反馈控制器能够使所要跟踪的参考路径的跟踪误差收敛到零。应用Matlab软件搭建了数学仿真系统,并对水中灵巧弹药指定参考路径进行了跟踪控制仿真。仿真结果表明,跟踪误差快速收敛到0 m,所设计的非线性反馈控制器能够使水中灵巧弹药沿着预定路径航行。

The trajectory tracking control of underwater smart ammunitions in the horizontal plane is studied. A kinematics and dynamics model of underwater smart ammunition in the horizontal plane is established. A kinematics and dynamics control law is designed based on Lyapunov stability theory and backstepping technique by introducing the concept of the 'arrival angle'. It is proved that the designed nonlinear feedback control law can converge the tracking error of the reference trajectory to zero. The mathematical simulation system is built by using the Matlab software,and the tracking control simulation of underwater smart ammunition in the specified path is carried out. The simulated results show that the tracking error converges to 0 m quickly. The designed nonlinear feedback controller can make the underwater smart ammunition travel along a predetermined path.