针对喷水推进型欠驱动无人艇的由艇艏摇非线性响应模型和舵机伺服系统组成的直线航迹控制系统,在考虑模型参数不确定性和外界干扰随机性特点的情况下,研究了一种反步自适应动态滑模控制方法.首先利用全局微分同胚坐标变换将原系统转化为具有下三角特征的非线性系统,然后基于反步设计法和动态滑模控制理论,设计了反步自适应动态滑模控制器,并利用Lyapunov稳定性理论,证明在该控制器的作用下,直线航迹控制系统是全局渐近稳定的.仿真对比试验表明,该控制器对模型摄动和外界干扰不敏感,具有强鲁棒性和自适应性.%A method for backstepping adaptive dynamical sliding mode control was studied for underactuated water jetpropulsion unmanned surface vessels' straight-line trajectory system consisting of the nonlinear ship response model and the rudder actuator dynamics under the circumstances of taking account of the modeling parameters' uncertainty and external disturbances.Firstly,the original system was transformed into a nonlinear system based on a global diffeomorphism change of coordinate.And then,a backstepping adaptive dynamical sliding mode controller was proposed based on the backstepping design method and the theory of dynamical sliding mode control.Finally,it was proved by means of the Lyapunov stability theory that under the proposed controller the straight-line trajectory control system was globally,asymptotically stable.The simulation comparison results verified that the proposed controller was robust and adaptive to the model perturbation and external disturbances.
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