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首页> 外文会议>Youth Academic Annual Conference of Chinese Association of Automation >Trajectory Tracking Based on Backstepping Sliding Mode Control for Underactuated USV
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Trajectory Tracking Based on Backstepping Sliding Mode Control for Underactuated USV

机译：基于Backstepping滑动模式控制的轨迹跟踪欠压USV

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Unmanned surface vessel (USV) has been widely applied due to its advantages in the maritime security inspection and resources exploration. As a complex nonlinear system, the trajectory tracking of USV requires the controller to achieve fast tracking for a given target, and at the same time, the controller needs to have strong anti-interference capability due to the complex water surface conditions with many uncertainties and disturbances. In this paper, a backstepping sliding mode control design method for USV is proposed, and it is used to realize the trajectory tracking problem of USV. The asymptotic stability of the control system is proved by theoretical derivation, while numerical simulation is used to verify that the unmanned boat achieves the tracking control effect of open trajectory and closed trajectory in the presence of external disturbances. The simulation results show that the designed controller can track the set target quickly and accurately, and has strong disturbance resistance in the case of periodic disturbances.
机译：由于其在海上安全检查和资源勘探中的优势，无人面的表面船（USV）已被广泛应用。作为复杂的非线性系统，USV的轨迹跟踪要求控制器为给定的目标实现快速跟踪，同时，控制器由于具有许多不确定性的复杂水表条件而需要具有强烈的抗干扰能力。干扰。在本文中，提出了一种用于USV的反向滑动模式控制设计方法，用于实现USV的轨迹跟踪问题。通过理论推导证明了控制系统的渐近稳定性，而数值模拟用于验证无人驾驶船在存在外部干扰存在下达到开放轨迹和闭合轨迹的跟踪控制效果。仿真结果表明，设计的控制器可以快速准确地跟踪设定目标，并且在周期性干扰的情况下具有强烈的扰动阻力。

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