欠驱动无人艇轨迹跟踪的滑模控制方法

摘要

讨论欠驱动无入水面艇的轨迹规划和跟踪控制问题,并考虑动力学模型不确定性和环境干扰力的影响.对于给定二维惯性平面内的光滑期望轨迹,规划方法将获得船体坐标系下的参考跟踪速度和加速度.然后基于滑模控制方法提出一种轨迹跟踪控制律.通过理论分析可得,该控制律不但能保证无人艇轨迹跟踪的渐进稳定性,而且保证艏摇运动是有界输入有界输出稳定的.进行数值仿真,无人艇均实现了对封闭或开放轨迹的跟踪以及定位控制,验证了所提方法的可行性和有效性.%This paper addresses the trajectory planning and tacking control problem for underactuated autonomous surface vehicles (ASV) with parametric modeling uncertainty and environmental disturbances. Given a desired 2D smooth and inertial trajectory, the planning method uses vehicle dynamics to compute the body-fixed reference velocity and acceleration. A trajectory tacking control law is proposed based on the sliding-mode control approach. Theoretical analysis shows that the ASV trajectory tacking system is asymptotically stable and the yawing motion is BIBO stable under the control law. Simulation results are presented to show that the ASV successfully follows a desired closed-loop or open-loop trajectory and achieves positioning control. Feasibility and effectiveness of the presented controller is validated.