欠驱动水面船舶的有限时间航迹跟踪控制

摘要

To realize fast trajectory tracking control for an under-actuated surface vessel, a decentralized controller was designed based on the terminal sliding mode control method, and an auxiliary linear sliding mode surface was introduced for the switch control to avoided the singularity problem in the traditional terminal sliding mode surface, i.e., the state may be zero and the control can be infinity. In addition, this made an under-actuated surface vessel realize fast tracking and maintain the desired trajectory in a finite time. In combination with the finite-time stability theory, it was verified that TSMC has the characteristics of converging within a limited time. In virtue of the Lya-punov stability theory, the stability of the closed loop system was verified. Simulation results show that this algo-rithm has good control effect and has certain robustness against external environmental disturbances.%针对欠驱动水面船舶的快速航迹跟踪控制问题,本文设计了一种基于终端滑模控制方法的分散控制器.通过引入辅助线性滑模面进行切换控制,避免了传统终端滑模面中状态可能为零而导致控制无穷大的奇异问题,且使欠驱动水面船舶能够在有限时间内快速跟踪并保持期望的轨迹.本文结合有限时间稳定性理论证明了终端滑模控制方法具有限时间收敛作用这一特性;借助Lyapunov稳定性理论证明了闭环系统的稳定性.仿真结果表明:该算法控制效果良好,且对外界环境干扰具有一定的鲁棒性能.