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[1]廖煜雷,庄佳园,庞永杰,等.单喷泵无人滑行艇航向的反步自适应滑模控制[J].智能系统学报,2012,7(3):246-250.
　LIAO Yulei,ZHUANG Jiayuan,PANG Yongjie,et al.Backstepping adaptive sliding mode control for an unmanned planning craft course system with single waterjet[J].CAAI Transactions on Intelligent Systems,2012,7(3):246-250.

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单喷泵无人滑行艇航向的反步自适应滑模控制

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《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷: 7 期数: 2012年第3期页码: 246-250 栏目: 学术论文—智能系统出版日期: 2012-06-25

Title:: Backstepping adaptive sliding mode control for an unmanned planning craft course system with single waterjet

文章编号:: 1673-4785(2012)03-0246-05

作者:: 廖煜雷¹，庄佳园¹，庞永杰¹，杜鑫²; 1．哈尔滨工程大学水下智能机器人技术国防科技重点实验室，黑龙江哈尔滨 150001；
2.总参陆航研究所，北京 100020

Author(s):: LIAO Yulei¹, ZHUANG Jiayuan¹, PANG Yongjie¹, DU Xin²; 1.National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle, Harbin Engineering University, Harbin 150001, China;
2.Army Aviation Institute, Beijing 100020, China

关键词:: 单泵喷水推进器; 无人滑行艇; 航向控制; 滑模控制; backstepping法

Keywords:: single waterjet; unmanned planning craft; course control; sliding mode control; backstepping method

分类号:: TP273;U664

文献标志码:: A

摘要:: 针对单泵喷水推进型无人滑行艇航向跟踪的非线性系统控制问题，对无人滑行艇的运动稳定性分析表明，其具有水平面内的自动稳定性.考虑建模误差和外界干扰力影响下的滑行艇运动响应模型，基于backstepping方法和滑模控制理论，提出了一种自适应滑模控制律.利用Lyapunov函数，证明该控制律保证了航向跟踪系统的全局渐近稳定性.仿真对比结果验证了所提出控制器的有效性.

Abstract:: The coursetracking nonlinear control problem of an unmanned planning craft with single waterjet was addressed in this paper. Based on motion stability analysis of the unmanned planning craft, the system had automatic stability on the horizontal plane. Considering the motion response model affected by of the modeling errors and external disturbances， an adaptive sliding mode control law was proposed via the sliding mode control theory and backstepping method. By means of the Lyapunov function, it was proven that the proposed control law can render the coursetracking system globally asymptotically stable at the origin. Simulations results illustrate the effectiveness of the proposed method. 

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备注/Memo

收稿日期： 2010-12-25.网络出版日期：2012-04-23.
基金项目：国家自然科学基金资助项目(50909025/E091002)；中国博士后科学基金资助项目(20080440838).
通信作者：廖煜雷．E-mail: liaoyulei@hrbeu.edu.cn.
作者简介：
廖煜雷，男，1985年生，博士研究生，主要研究方向为USV基础运动控制和欠驱动船舶运动控制，发表学术论文10余篇.
庄佳园，男，1984年生，博士研究生，主要研究方向为水面USV路径规划和运动控制.
庞永杰，男，1955年生，教授，博士生导师，第3、4届海洋工程学会理事，主要研究方向为水下机器人总体设计与运动控制技术.目前主持和参与省部级以上科研项目多项，获得国家科技进步二等奖1次，国防科学技术一、二、三等奖各1次，发表学术论文50余篇.

更新日期/Last Update: 2012-09-05

单喷泵无人滑行艇航向的反步自适应滑模控制 PDF下载HTML

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单喷泵无人滑行艇航向的反步自适应滑模控制

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