新型幂次趋近律的无人艇航向的终端滑模控制方法

摘要

To solve the problems of the traditional Sliding Mode Control (SMC) and traditional sliding mode reaching law,such as slow convergence speed,long convergence time and severe chattering in the course control of Unmanned Surface Vehicle (USV),a new Terminal Sliding Mode Control (TSMC) based on new power reaching law is proposed.Firstly,the non-linear function is introduced in the design of sliding hyper-plane based on the idea of TSMC,and a Terminal sliding mode surface is constructed.Under the assumption of improving the dynamic response by the TSMC,a novel power reaching law based on traditional power reaching law is introduced.Then,a new Terminal sliding mode controller is designed based on new reaching law and the TSMC theories.Finally,the Lyapunov stability is proved for the designed control system.The simulation results indicate that:compared with the traditional power reaching law and the exponential reaching law,the designed controller has faster convergence speed and better movement quality.%针对传统滑模控制方法和传统滑模趋近律在喷水推进型水面无人艇的航向控制中存在收敛速度慢、耗时长和抖振严重等缺点,提出一种基于新型幂次趋近律的终端滑模控制方法.首先利用终端滑模控制思想在滑动超平面的设计中引入非线性函数,构造Terminal滑模面,在终端滑模控制提高动态响应速度的前提下,进而引入改进的新型幂次趋近律,充分结合终端滑模的控制理论和新型趋近律的思想设计了新型Terminal滑模控制器,最后进行了Lyapunov稳定性证明和仿真.仿真结果表明,设计的新控制器与传统幂次趋近律、指数趋近律相比,具有更快的收敛速度和更好的运动品质.