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为了实现无人两栖平台水上行驶的高可靠性和机动性,研究了其水上轨迹跟踪控制问题。首先对无人两栖平台平面三自由度模型进行全局微分同胚变换,得到了2个相互级联的子系统;然后应用级联系统理论将无人两栖平台的轨迹跟踪控制问题简化为单个子系统的渐近收敛控制问题,并且基于反步滑模控制理论,应用Lyapunov直接法设计了子系统的渐近收敛控制器。最后,对控制策略进行了仿真验证,结果表明:全局微分同胚变换以及级联系统分析正确有效,子系统的渐近收敛控制器可有效实现无人两栖平台对预定参考轨迹的稳定跟踪。
In order to realize the high dependability and maneuverability of unmanned amphibious platform on water, the problem of tracking control of water track is studied. First, the global three-degree-of-freedom model of unmanned amphibious platform is transformed into the global differential homeomorphism and two subsystems are cascaded with each other. Then, the cascade system theory is applied to simplify the trajectory tracking control problem of unmanned amphibious platform to a single subsystems Asymptotic convergence control, and based on the backstepping sliding mode control theory, the asymptotic convergence controller of the subsystem is designed by Lyapunov direct method. Finally, the simulation of the control strategy is carried out. The results show that the global differential homeomorphism transform and the cascaded system analysis are correct and effective. The asymptotic convergence controller of the subsystem can effectively realize the stable tracking of the predetermined reference trajectory by the unmanned amphibious platform.