欠驱动Hovercraft的动态面反演轨迹跟踪控制

Backstepping Trajectory Tracking Control of Underactuated Hovercraft Based on Dynamic Surface Control

针对欠驱动Hovercraft提出一种基于动态面的反演轨迹跟踪控制方法。首先建立Hovercraft在参考轨迹下的跟踪误差动态方程;其次应用反演法设计3个虚拟速度和2个实际力矩控制量;然后引入动态面控制技术,通过设计3个一阶低通滤波器来避免反演设计中要求对虚拟速度控制量进行反复的求导运算,以降低控制器的设计复杂性;最后应用李雅普诺夫稳定性理论证明控制系统是稳定的,且跟踪误差收敛至零的小领域内。仿真结果表明,控制方法能跟踪任意光滑参考轨迹,并且具有快速的跟踪控制性能。

A backstepping trajectory tracking control approach is proposed for an underactuated hovercraft based on the dynamic surface control technique. Firstly, the tracking error dynamic under the reference trajectory is constructed. Secondly, three virtual velocity control signals and two actual control torques are designed using backstepping. To avoid the numerical derivatives of the virtual velocity control signals in the backstepping design, three one-order low pass filters are designed to derive the practical control torques. The design complexity and the computation of the tracking controller are thus reduced. Thirdly, it proves that all the tracking errors are uniformly ultimately bounded （UUB）, and converge to a small neighborhood of the origin by using the Lyapunov stability theory. Simulation results show that the control approach can track any smooth trajectory, and achieves fast tracking control performance.