| 基于滑模反演的欠驱动水面无人艇航向控制 |
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| 引用本文： | 武 颖,杨胜强,李文辉,刘大亮,王 庆.基于滑模反演的欠驱动水面无人艇航向控制[J].科学技术与工程,2018,18(1). |
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| 作者姓名： | 武 颖 杨胜强 李文辉 刘大亮 王 庆 |
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| 作者单位： | 太原理工大学,太原理工大学,太原理工大学,首都航天机械公司,首都航天机械公司 |
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| 基金项目： | 国家自然科学基金项目（面上项目，重点项目，重大项目）,国家教育部博士点基金 |
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| 摘 要： | 欠驱动无人艇作为一种水上重要的工作平台,其应用范围非常广泛。针对一种欠驱动水面无人艇的运动控制进行研究,首先分别建立其运动学和考虑了风浪干扰的动力学模型,得出了非线性状态空间模型;然后采用基于指数滑模面的滑模和反演相结合的控制算法设计其航向控制器;最后通过仿真和实物实验验证了设计的动力学方程和控制算法的有效性。
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| 关 键 词： | 水面无人艇 欠驱动系统 非线性模型 滑模控制 反演控制 航向控制 |
| 收稿时间： | 2017/6/2 0:00:00 |
| 修稿时间： | 2017/6/2 0:00:00 |
Based on Sliding Mode and Backstepping Heading Control of an Underactuated Unmanned Surface Vehicle |
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| Wu Ying,and.Based on Sliding Mode and Backstepping Heading Control of an Underactuated Unmanned Surface Vehicle[J].Science Technology and Engineering,2018,18(1). |
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| Authors: | Wu Ying and |
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| Institution: | Taiyuan University of Technology,,,, |
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| Abstract: | An underactuated unmanned surface vehicle, as an important platform working in the sea or lake, has a wide range of applications. Motion control of an underactuated unmanned surface vehicle is researched. Firstly, the kinematics and dynamics model considering the wind and sea wave disturbance is built, and the nonlinear state equation is derived. Then the combination control algorithm of the sliding mode control based on exponential sliding surface and backstepping control is designed for heading controller. Finally in the simulations and experiments, the validity of the dynamics equation and the control algorithm designed in this paper is verified. |
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| Keywords: | unmanned surface vehicle underactuated system nonlinear model sliding mode control backstepping control heading control |
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