| 欠驱动无人艇轨迹跟踪的滑模控制方法 |
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| 引用本文： | 廖煜雷,庄佳园,李晔,庞永杰.欠驱动无人艇轨迹跟踪的滑模控制方法[J].应用科学学报,2011,29(4):428-434. |
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| 作者姓名： | 廖煜雷 庄佳园 李晔 庞永杰 |
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| 作者单位： | 哈尔滨工程大学水下智能机器人技术重点实验室，哈尔滨150001 |
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| 基金项目： | 国家自然科学基金(No.50909025); 中央高校基本科研业务费专项资金(No.HEUCFZ1003)资助 |
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| 摘 要： | 讨论欠驱动无人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.
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| 关 键 词： | 欠驱动 无人艇 轨迹跟踪 滑模控制 |
| 收稿时间： | 2010-11-25 |
| 修稿时间： | 2011-04-08 |
Sliding-Mode Trajectory Tacking Control for Underactuated Autonomous Surface Vehicle |
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| LIAO Yu-lei,ZHUANG Jia-yuan,LI Ye,PANG Yong-jie.Sliding-Mode Trajectory Tacking Control for Underactuated Autonomous Surface Vehicle[J].Journal of Applied Sciences,2011,29(4):428-434. |
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| Authors: | LIAO Yu-lei ZHUANG Jia-yuan LI Ye PANG Yong-jie |
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| Institution: | National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle, Harbin Engineering University, Harbin 150001, China |
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| Abstract: | 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 bodyfixed 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 asymptotic... |
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| Keywords: | underactuated autonomous surface vehicle(ASV) trajectory tacking sliding-mode control |
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