基于改进切换增益自适应率的欠驱动USV滑模轨迹跟踪控制

于瑞,徐雪峰,周华,杨华勇

Improved switching-gain adaptation based sliding mode control for trajectory tracking of underactuated unmanned surface vessels

Rui YU,Xue-feng XU,Hua ZHOU,Hua-yong YANG

表 1 欠驱动无人艇的仿真参数

Tab.1 Simulation parameters of underactuated USV

参数 数值 参数 数值 $ {m_{11}}/{\text{kg}} $ 200 ${r_{{\rm{d}}, \max } }/({\text{rad} } \cdot { {\text{s} }^{ - 1} })$ 2 ${m_{33} }/({\text{kg} } \cdot { {\text{m} }^{ - 2} })$ 80 $ {d_{22}}/({\text{kg}} \cdot {{\text{s}}^{ - 1}}) $ 100 $ {\hat m_{ii}} $ $0.7{m_{ii} }$ $ {d_{\rm{u}}}/{\text{N}},{d_{\rm{v}}}/{\text{N}} $ $10\text{Rand}\;(·)$ ${d_{\rm{r}}}$ $20\text{Rand}\;(·)$ $ {\hat d_{\rm{u}}},{\hat d_{\rm{v}}} $ 0 $ {d_{11}}/({\text{kg}} \cdot {{\text{s}}^{ - 1}}) $ 70 $ {m_{22}}/{\text{kg}} $ 250 $ {d_{33}}/({\text{kg}} \cdot {{\text{m}}^2} \cdot {{\text{s}}^{ - 1}}) $ 50 $ {\hat d_{\rm{r}}} $ 0 $ {\hat d_{ii}} $ $0.7{d_{ii} }$ — —