| 引用本文: | 陈霄,刘忠,罗亚松,王潋,董蛟.海洋环境下欠驱动无人艇航迹跟踪控制算法[J].哈尔滨工业大学学报,2018,50(10):110.DOI:10.11918/j.issn.0367-6234.201709067 |
| CHEN Xiao,LIU Zhong,LUO Yasong,WANG Lian,DONG Jiao.Path tracking control algorithm for the underactuated USV in the marine environment[J].Journal of Harbin Institute of Technology,2018,50(10):110.DOI:10.11918/j.issn.0367-6234.201709067 |
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| 摘要: |
| 为提高风浪流等外界环境扰动下，欠驱动无人艇航迹跟踪控制的准确性和鲁棒性，研究真实海洋环境下一类欠驱动无人艇的航迹跟踪控制问题，提出了一种基于改进视线导引算法与自适应滑模航向控制算法级联形式的欠驱动无人艇航迹跟踪控制算法，并基于李雅普诺夫理论和级联系统理论证明了当所有控制目标实现时，航迹跟踪控制系统为一致全局渐近稳定的.与传统的视线导引算法相比，改进的导引算法通过引入自适应观测器能够实现对漂角的实时估计和补偿，同时时变前视距离的设计使得无人艇的操纵更加灵活.以“海鲟03号”无人艇操纵运动模型和辨识得到的参数为基础，在MATLAB/SIMULINK软件上进行了航迹跟踪对比仿真实验，仿真结果表明：相比传统LOS导引策略下的航迹跟踪算法，控制算法动态性能更高且稳态误差较小，验证了算法的有效性和先进性；利用“海鲟03号”无人艇对所提出的控制算法进行了海上试验，结果表明在航迹跟踪控制算法的作用下，无人艇能较为准确地跟踪预先设定的期望航迹，且在整个航迹跟踪过程中，航迹误差相对较小，验证了该算法在实际工程应用中的正确性和有效性.
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| 关键词: 欠驱动控制 无人艇 视线导引 航迹跟踪 稳定性分析 |
| DOI：10.11918/j.issn.0367-6234.201709067 |
| 分类号:TP242 |
| 文献标识码:A |
| 基金项目: |
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| Path tracking control algorithm for the underactuated USV in the marine environment |
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CHEN Xiao,LIU Zhong,LUO Yasong,WANG Lian,DONG Jiao
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(School of Weaponry Engineering, Naval University of Engineering, Wuhan 430000, China)
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| Abstract: |
| A path tracking control algorithm based on the improved line-of-sight guidance algorithm and adaptive sliding-mode heading control algorithm is proposed. Based on the Lyapunov and cascade theory, the proposed path tracking control system is proved to be uniform globally asymptotic stable (UGAS) when the target tasks are all achieved. Compared to the traditional line-of-sight guidance algorithm, the improved guidance algorithm in the paper can realize the real-time estimation and compensation of the drift angle by introducing the adaptive observer. At the same time, the design of the forward-looking distance makes the manipulation of the underactuated USV more flexible. Based on the maneuvering model and parameters identification of the USV called "sturgeon 03", the path tracking contrast simulations were carried out on MATLAB/SIMULINK software. The simulation results show that the path tracking algorithm proposed in the paper has more dynamic performance and less steady-state error than the traditional LOS guidance algorithm. Then, the sea-field test using the USV called "sturgeon 03" confirms that, under the action of the tracking control algorithm, the USV can track the desired path accurately, and the track error is relatively small during the whole tracking.
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| Key words: underactuated control unmanned surface vehicles line-of-sight path tracking stability analysis |
