为了实现无人两栖平台水上行驶的高可靠性和机动性，研究了其水上轨迹跟踪控制问题。首先对无人两栖平台平面三自由度模型进行全局微分同胚变换，得到了2个相互级联的子系统；然后应用级联系统理论将无人两栖平台的轨迹跟踪控制问题简化为单个子系统的渐近收敛控制问题，并且基于反步滑模控制理论，应用Lya-punov直接法设计了子系统的渐近收敛控制器。最后，对控制策略进行了仿真验证，结果表明：全局微分同胚变换以及级联系统分析正确有效，子系统的渐近收敛控制器可有效实现无人两栖平台对预定参考轨迹的稳定跟踪。%The trajectory tracking control of unmanned amphibious platform is discussed in this paper in order to obtain high reliability and maneuverability .The global diffeomorphism is firstly applied to the three-degree-of-freedom model of unmanned amphibious platform , and two cascaded subsystems are ob-tained .Then the problem of trajectory tracking control is consequently simplified to stabilization control of single subsystem according to the cascaded system theory , and the stabilization controller is developed based on backstepping sliding mode control and Lyapunov direct method .In the end, the effectiveness of the control strategy is validated by simulation , and the results show that the global diffeomorphism and the cascaded system analysis are correct and effective , and the stabilization controller can effectively steer the unmanned amphibious platform to track the predefined trajectory .
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