在不确定洋流因素的影响下，通过有效的控制算法对无人船进行控制是其能够实现水下勘察、搜救巡逻等任务的有效前提。本文提出一种存在水动力参数摄动下基于LOS制导律的全局积分滑模轨迹跟踪控制器，首先通过视线法（LOS）设计位姿控制器从而得出速度虚拟控制输入，其次通过全局积分滑模（GISMC）控制设计动态控制器，在控制器设计中采用改进的连续函数进行补偿，并通过李雅普诺夫函数保证整个闭环系统的稳定性。最后通过对2种不同曲率轨迹的跟踪仿真结果验证了所设计控制器的有效性和可靠性。
Under the influence of uncertain ocean current factors, the control of unmanned ships through effective control algorithms is an effective prerequisite for underwater survey, search and rescue patrols and other tasks. In this paper, a global integral sliding mode trajectory tracking controller based on the perturbation LOS guidance law of hydrodynamic parameters is proposed, firstly, the position and attitude controller is designed by the line-of-sight method (LOS) to obtain the virtual control input of velocity, and secondly, the dynamic controller is designed by the global integral sliding mode control (GISMC), and the improved continuous function is used to compensate in the controller design, and the stability of the whole closed-loop system is ensured by the Lyapunov function. Finally, the effectiveness and reliability of the designed controller are verified by the tracking simulation results of two different curvature trajectories.
2025,47(5): 112-117 收稿日期：2024-3-11
DOI：10.3404/j.issn.1672-7649.2025.05.017
分类号：TP242.3
基金项目：国家自然科学基金资助项目（522722474）
作者简介：马浩哲（2000 – ），男，硕士研究生，研究方向为水下机器人控制
参考文献：
[1] 郭晨, 汪洋, 孙福春, 等. 欠驱动水面船舶运动控制研究综述[J]. 控制与决策, 2009, 24(3): 321-329.
[2] 赵杰梅, 胡忠辉. 基于动态反馈的AUV水平面轨迹跟踪控制[J]. 浙江大学学报(工学版), 2018, 52(8): 1467-1473+1481.
[3] JIANG Z P. Global tracking control of underactuated ships by lyapunov's direct method[J]. Automatica (Journal of IFAC), 2002, 38(2): 301-309.
[4] FOSSEN T I, STRAND J P. Tutorial on nonlinear backstepping: Applications to ship control[J]. Modeling Identification and Control, 1999, MIC-20(2): 83-135.
[5] LARRAZABAL J M. Matilde penas. intelligient rudder control of an unmanned surface vessel[J]. Expert Systems with Applications, 2016, 55: 106-117.
[6] FOSSEN T I, PETTERSEN K Y, GALEAZZI R. Line-of-sight path following for dubins paths with adaptive sideslip compensation of drift forces[J]. IEEE Transactions on Control Systems Technology, 2015, 23(2), 820–827.
[7] 韩亚楠. 复杂海洋环境下的欠驱动AUV路径跟踪控制[D]. 大连: 大连海事大学, 2020.
[8] GODHAVN J M, FOSSEN T I , BERGE S P. Non-linear and adaptive backstepping designs for tracking control of ships[J]. International Journal of Adaptive. Control Signal Process, 1998, 12 (8), 649-670.
[9] LIN Q Y, QUN Z. Tracking control of an underactuated ship by modified dynamic inversion[J]. ISA Transactions, 2018, 83: 100-106.
[10] SHOJAEI K. On the neuro-adaptive feedback linearising control of underactuated autonomous underwater vehicles in three-dimensional space[J]. IET Control Theory and Applications, 2015, 9(8): 1264-1273.
[11] REPOULIAS F, PAPADOPOULOS E. Planar trajectory planning and tracking control design for underactuated AUVs[J]. Ocean Engineering, 2007, 34(11-12): 1650-1667.
