欠驱动船路径跟踪的反演自适应动态滑模控制方法

摘要

针对欠驱动水面船的路径跟踪控制系统,提出一种反演自适应动态滑模控制方法.该系统由船舶艏摇非线性响应模型和Serret-Frenet误差动力学方程组成,并考虑建模误差和外界干扰力等不确定性.经过简化处理,将原欠驱动系统的控制问题转化为非线性系统的镇定问题.同时,基于反步方法和动态滑模控制理论,设计自适应动态滑模控制器.通过理论分析,证明在该控制器作用下,路径跟踪控制系统是全局渐近稳定的.仿真试验表明:该控制器对系统参数摄动和外界干扰不敏感,具有强鲁棒性和自适应性.%A method of backstepping adaptive dynamical sliding mode control (DSMC) was addressed for the path following control system of the underactuated surface vessel. The system consists of the nonlinear ship response model and the Serret-Frenet error dynamics equations. The control system takes account of the modeling errors and external disturbances. It transformed the original underactuated system into a nonlinear system via simplified analysis. An adaptive dynamical sliding mode controller was proposed based on backstepping method and dynamical sliding mode control theory. By means of theory analysis, it was proven that the proposed controller can render the path following control system globally asymptotically stable. Simulation results show that the controller is robust and adaptive to the systemic variations or disturbances.