基于动态非线性滑动模态的USV直线航迹控制的研究

Research on USV linear track control based on dynamic nonlinear sliding mode

随着战争方式的不断创新,无人作战系统逐渐成为发展的趋势,水面无人艇(USV)是其重要分支,得到越来越多的重视,其中,航迹控制是USV的核心。USV是一个具有不确定性的运行系统,由于海上环境的复杂性,使得USV控制非常困难。本文研究动态非线性滑动模态算法,提出了相应的USV直线航迹控制算法,该算法能够确保USV按照预定航线航行。

With the change of operation mode, unmanned combat system(USV) is one of the most important trends in the future. USV is a kind of uncertain operating system. Because of the complexity of the marine environment, the USV control is very difficult. This paper studied the dynamic nonlinear sliding mode algorithm, and proposed the corresponding USV linear track control algorithm.