Sliding-mode trajectory tacking control for underactuated autonomous surface vehicle

被引：3
|
作者：
Liao Y.-L. [1 ]
Zhuang J.-Y. [1 ]
Li Y. [1 ]
Pang Y.-J. [1 ]
机构：
[1] National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle, Harbin Engineering University
来源：
Yingyong Kexue Xuebao/Journal of Applied Sciences | 2011年 / 29卷 / 04期
关键词：
Autonomous surface vehicle (ASV); Sliding-mode control; Trajectory tacking; Underactuated;
D O I：
10.3969/j.issn.0255-8297.2011.04.016
中图分类号：
学科分类号：
摘要：
This paper addresses the trajectory planning and tacking control problem for underactuated autonomous surface vehicles (ASV) with parametric modeling uncertainty and environmental disturbances. Given a desired 2D smooth and inertial trajectory, the planning method uses vehicle dynamics to compute the bodyfixed reference velocity and acceleration. A trajectory tacking control law is proposed based on the sliding-mode control approach. Theoretical analysis shows that the ASV trajectory tacking system is asymptotically stable and the yawing motion is BIBO stable under the control law. Simulation results are presented to show that the ASV successfully follows a desired closed-loop or open-loop trajectory and achieves positioning control. Feasibility and effectiveness of the presented controller is validated.
引用
收藏
页码：428 / 434
页数：6
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