Trajectory tracking control for underactuated unmanned surface vehicles with dynamic uncertainties

作     者：廖煜雷 张铭钧 万磊 李晔 

作者机构：Science and Technology on Underwater Vehicle LaboratoryHarbin Engineering University College of Mechanical and Electrical EngineeringHarbin Engineering University 

出 版 物：《Journal of Central South University》 (中南大学学报（英文版）)

年 卷 期：2016年第23卷第2期

页      面：370-378页

核心收录：

学科分类：0810[工学-信息与通信工程] 08[工学] 0806[工学-冶金工程] 081105[工学-导航、制导与控制] 0805[工学-材料科学与工程（可授工学、理学学位）] 0824[工学-船舶与海洋工程] 0703[理学-化学] 0811[工学-控制科学与工程] 082401[工学-船舶与海洋结构物设计制造] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：Project(51409061)supported by the National Natural Science Foundation of China Project(2013M540271)supported by China Postdoctoral Science Foundation Project(LBH-Z13055)Supported by Heilongjiang Postdoctoral Financial Assistance,China Project(HEUCFD1403)supported by Basic Research Foundation of Central Universities,China 

主　　题：轨迹跟踪控制 无人地面车辆 欠驱动 滑模控制器 动态滑模控制 误差方程 反推技术 稳定性问题 

摘      要：The trajectory tracking control problem for underactuated unmanned surface vehicles(USV) was addressed, and the control system took account of the uncertain influences induced by model perturbation, external disturbance, etc. By introducing the reference, trajectory was generated by a virtual USV, and the error equation of trajectory tracking for USV was obtained, which transformed the tracking problem of underactuated USV into the stabilization problem of the trajectory tracking error equation. A backstepping adaptive sliding mode controller was proposed based on backstepping technology and method of dynamic slide model control. By means of theoretical analysis, it is proved that the proposed controller ensures that the solutions of closed loop system have the ultimate boundedness property. Simulation results are presented to illustrate the effectiveness of the proposed controller.