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| 欠驱动船舶直线航迹的滑模控制方法 | |
| 引用本文： | 廖煜雷,万磊. 欠驱动船舶直线航迹的滑模控制方法[J]. 应用科技, 2011, 38(11): 13-17 |
| 作者姓名： | 廖煜雷 万磊 |
| 作者单位： | 哈尔滨工程大学水下智能机器人技术国防科技重点实验室,黑龙江哈尔滨,150011 |
| 基金项目： | 国家自然科学基金资助项目(61004008); 中央高校基本科研业务费专项资金资助项目(HEUCFZ1003) |
| 摘 要： | 针对一类欠驱动水面船舶的直线航迹跟踪控制问题,考虑运动响应模型的建模误差和外界干扰力等非匹配不确定性影响,基于滑模控制理论和Backstepping法,提出了一种反步自适应滑模控制律.借鉴Backstepping法的设计思想,利用一种改进积分型的滑模控制方法和自适应技术,设计了直线航迹跟踪控制的滑模控制律,并证明该控制律保证了航迹跟踪系统的全局渐进稳定性.最后,仿真对比结果验证了所提出控制器的有效性. |
| 关 键 词： | 欠驱动船舶 直线航迹控制 滑模控制 Backstepping法 |
Sliding-mode straight-ine tracking control for underactuated vessels |
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| LIAO Yulei , WAN Lei. Sliding-mode straight-ine tracking control for underactuated vessels[J]. Applied Science and Technology, 2011, 38(11): 13-17 | |
| Authors: | LIAO Yulei WAN Lei |
| Affiliation: | LIAO Yulei,WAN Lei (National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle,Harbin Engineering University,Harbin 150001,China) |
| Abstract: | The straight-line tracking control problem of underactuated surface vessels was addressed in this paper;the modeling errors and external disturbances of the motion response model were considered.A backstepping adaptive sliding-mode control law was proposed based on the sliding-mode theory and Backstepping method.Referring to the ideas of the backstepping method,a sliding-mode control law was developed by the method of improved integral sliding-mode control method and adaptive technique,and proved that the p... |
| Keywords: | underactuated vessels straight-line tracking control sliding-mode control Backsteppingmethod |
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