Path Following Control of the Asymmetric USV via Backstepping Sliding Mode Technique

被引：0
|
作者：
Li, Mingcong [1 ]
Guo, Chen [1 ]
Yuan, Yi [1 ]
Guo, Muzhuang [1 ]
机构：
[1] Dalian Maritime Univ, Sch Marine Elect Engn, Dalian 116026, Peoples R China
来源：
PROCEEDINGS OF THE 2019 31ST CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2019) | 2019年
基金：
中国国家自然科学基金;
关键词：
unmanned surface vessel (USV); path following; backstepping sliding mode; line-of-sight (LOS); TRACKING;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Aiming at underactuation and asymmetry of unmanned surface vessel (USV), the global asymptotically stable path following controller is proposed by the nonlinear backstepping sliding mode method and the Lyapunov stability theory. First, the path following error model in Serret-Frenet (SF) coordinate system is established with the improved line-of-sight (LOS) guidance algorithm, then by combining backstepping design principles and the sliding mode control method, the longitudinal thrust control law and the yaw torque control law are designed for the underactuated USV. Numerical simulations are provided to validate the effectiveness and reliability of the proposed controller in the final.
引用
收藏
页码：2979 / 2984
页数：6
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