Robust adaptive trajectory tracking control of underactuated surface vessel in fields of marine practice

被引：0
作者：
Zhijian Sun
Guoqing Zhang
Lei Qiao
Weidong Zhang
机构：
[1] Shanghai Jiao Tong University,Department of Automation
[2] and Key Laboratory of System Control and Information Processing,Navigation College
[3] Ministry of Education of China,undefined
[4] Dalian Maritime University,undefined
来源：
Journal of Marine Science and Technology | 2018年 / 23卷
关键词：
Sliding mode control; Lyapunov stability theory; Backstepping technique; Trajectory tracking;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
To enhance the control system robustness of an underactuated surface vessel with model uncertainties and environmental disturbances, a robust adaptive trajectory tracking algorithm based on proportional integral (PI) sliding mode control and the backstepping technique is proposed. In this algorithm, a continuous adaptive term is constructed to reduce the chattering magenta phenomenon of the system due to the sliding mode surface, and the backstepping technique is employed to force the ship position and the orientation on the desired values. In addition, we have proved the Lyapunov stability of the closed-loop system under the discontinuous environment disturbances or the thruster discontinuity. Finally, numerical simulations are performed to demonstrate the effectiveness of this novel methodology.
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页码：950 / 957
页数：7
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