Global sliding mode control for hovercraft with unknown disturbance upper bound

被引：1

作者：

Fu M.-Y. ^{[1
]}

Bai D. ^{[1
]}

Zhang T. ^{[1
]}

Dong L.-J. ^{[1
]}

机构：

[1] College of Automation, Harbin Engineering University, Heilongjiang, Harbin

来源：

Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2022年 / 39卷 / 06期

基金：

中国国家自然科学基金;

关键词：

global sliding mode control; hovercraft; trajectory tracking; unknown disturbance upper bound;

D O I：

10.7641/CTA.2021.10633

中图分类号：

学科分类号：

摘要：

In this paper, with trajectory tracking as the task goal, a novel global sliding mode controller is proposed for the nonlinear dynamic model of hovercraft with unmodeled dynamics, uncertain parameters and unknown disturbances, and combined with a comprehensive observer that does not require disturbance upper bound information, feedforward compensation for the total perturbation of the system. First, the kinematics and dynamics vector model of the hovercraft with four degrees of freedom is given. Under the condition that the upper bound of the disturbance is unknown, the feedforward compensation is designed separately according to the essence of the uncertainties inside and outside the system, and an observer’s compensation term is added to further compensate the observation error. Then, a novel global sliding mode controller with no approaching process is designed to ensure that the hovercraft traveling at high speed can still complete the tracking task well in the unknown disturbance environment, has smaller buffeting, achieves smaller tracking errors and enhances the robustness of the hovercraft control system at the same time. The stability of the entire linkage system is proved by Young’s inequality and Lyapunov stability, and the simulation results verify the effectiveness of the method. © 2022 South China University of Technology. All rights reserved.

引用

页码：1130 / 1138

页数：8

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