Trajectory tracking control for underactuated unmanned surface vehicles with dynamic uncertainties

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• 作者：Yu-lei Liao 廖煜雷 ; Ming-jun Zhang 张铭钧 ; Lei Wan 万磊…
• 关键词：trajectory tracking ; underactuated ; unmanned surface vehicle (USV) ; backstepping ; dynamic sliding mode control
• 刊名：Journal of Central South University
• 出版年：2016
• 出版时间：February 2016
• 年：2016
• 卷：23
• 期：2
• 页码：370-378
• 全文大小：767 KB
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• 作者单位：Yu-lei Liao 廖煜雷 (1)
  Ming-jun Zhang 张铭钧 (1) (2)
  Lei Wan 万磊 (1)
  Ye Li 李晔 (1)
  
  1. Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, 150001, China
  2. College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, 150001, China
  
• 刊物类别：Engineering
• 刊物主题：Engineering, general
  Metallic Materials
  Chinese Library of Science
  
• 出版者：Central South University, co-published with Springer
• ISSN：2227-5223

文摘

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. Keywords trajectory tracking underactuated unmanned surface vehicle (USV) backstepping dynamic sliding mode control