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应用科学学报 >

2011 , Vol. 29 >Issue 4: 428 - 434

DOI: https://doi.org/10.3969/j.issn.0255-8297.2011.04.016

控制与系统

欠驱动无人艇轨迹跟踪的滑模控制方法

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  • 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
廖煜雷，博士生，研究方向：欠驱动无人水面艇的运动控制，E-mail: liaoyulei@hrbeu.edu.cn；庞永杰，教授，博导，研究方向：水下机器人系统设计和仿真，E-mail: pangyongjie@hrbeu.edu.cn

收稿日期: 2010-11-25

  修回日期: 2011-04-08

  网络出版日期: 2011-07-30

基金资助

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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Sliding-Mode Trajectory Tacking Control for Underactuated Autonomous Surface Vehicle

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  • National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle, Harbin Engineering University, Harbin 150001, China
廖煜雷，博士生，研究方向：欠驱动无人水面艇的运动控制，E-mail: liaoyulei@hrbeu.edu.cn；庞永杰，教授，博导，研究方向：水下机器人系统设计和仿真，E-mail: pangyongjie@hrbeu.edu.cn

Received date: 2010-11-25

  Revised date: 2011-04-08

  Online published: 2011-07-30

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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.

关键词： 欠驱动; 无人艇; 轨迹跟踪; 滑模控制

本文引用格式

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 . DOI: 10.3969/j.issn.0255-8297.2011.04.016

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 asymptotically stable
and the yawing motion is BIBO stable under the control law. Simulation results are presented to show that
the ASV successfully follows a desired closed-loop or open-loop trajectory and achieves positioning control.
Feasibility and effectiveness of the presented controller is validated.

Key words：  underactuated, autonomous surface vehicle (ASV), trajectory tacking, sliding-mode control

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