Research And Simulation Of Tracking Control For Underactuated Surface Vessels

Now underactuated surface vessels(USV)are widely used in environmental monitoring,many underactuated surface vessels with only the vertical propulsion device are considered as a underactuated mechanical systems since two control input and three degrees of freedom(DOF).In this paper,we study the trajectory tracking robust control problem of underactuated surface vessels.The most important work as the following:Firstly,the research status of USV trajectory tracking robust control is summarized,and the characteristics of underactuated surface vessels motion control system are analyzed.Through the establishment of the body-fixed coordinate system and the inertial coordinate system,the kinematic characteristics and the force of underactuated surface vessels are analyzed,so we obtain the kinematic model and the kinetic model of underactuated surface vessels,After reasonable simplification,we get mathematical Model of 3-DOF Motion.The stability theory of nonlinear system is expounded in detail,and the stability theory of Lyapunov is used in this paper.Then,based on the sliding-mode variable structure control method,the trajectory tracking control controller of underactuated surface vessels is designed.The kinematic controller and kinetic sliding-mode controller are designed respectively.In the kinematic controller,two virtual control laws,such as the reference vertical velocity and the reference lateral velocity,are designed to achieve the convergence of underactuated surface vessels position tracking error.In the dynamic sliding-mode controller,the sliding mode surface of the first order exponential stable sliding mode and the transverse velocity tracking error is designed,and the corresponding control law is designed and the stability analysis is completed.Finally,the simulation experiment system of underactuated surface vessels is designed,and the design and coding of main program module and data storage module are completed by using VC ++ and Matlab and other development tools.The simulation results show that the designed controller has good robustness.