Trajectory Tracking Control of an Underactuated Unmanned Marine Vehicle Based on Asymmetric Model

doi:10.3969/j.issn.1000-1093.2016.03.012

Abstract

Abstract: Trajectory tracking control problem of an underactuated unmanned marine vehicle (UMV) is addressed, and an integral backstepping control method based on asymmetric model is proposed. A horizontal motion model of incomplete symmetry underactuated UMV with port/starboard symmetry and without fore/aft symmetry is established, in which the off-diagonal elements of damping coefficient matrix and inertia coefficient matrix are considered to be non-zero. A feedback transformation of virtual state and control input is designed to relax the well-known persistent exciting conditions of yaw velocity in trajectory tracking control of UMV, and then a general trajectory tracking controller for both straight line path and curve path is obtained. The global stable convergence rate of UMV system is improved by introducing an integral item of tracking errors into trajectory tracking controller. The stability of the system is proved by Lyapunov theory and Barbalat’s lemma. With the help of the semi physical simulation platform, the advantages of the asymmetric model-based underactuated UMV trajectory tracking control method proposed in this paper is demonstrated in simulation experiments by comparing with the traditional symmetric model-based method.

Key words: control science and technology, unmanned marine vehicle, asymmetric model, underactuated control, trajectory tracking, integral backstepping method

CLC Number:

TP273

DONG Zao-peng， WAN Lei， SUN Yu-shan， LIU Tao， LI Yue-ming， ZHANG Guo-cheng. Trajectory Tracking Control of an Underactuated Unmanned Marine Vehicle Based on Asymmetric Model[J]. Acta Armamentarii, 2016, 37(3): 471-481.

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