Research On Trajectory Tracking Control Of Trailer Shi

In this paper,a ship towing system with nonholonomic constraints and complex model structure is taken as the research object,and a new control strategy is proposed for its precise trajectory tracking control.Since both the tugboat and the towed ship are single ships,it is necessary to verify the application of the designed control strategy in a single ship.First,a mathematical model of a single ship is constructed based on the separated ship model.Second,according to the motion law under nonholonomic constraints,the target trajectory curve is transformed into a dynamic trajectory tracking target in the form of speed.By tracking the relative curvature of the target trajectory curve,the dynamic trajectory tracking target can greatly reduce the trajectory deviation caused by the accumulation of speed errors.Finally,an adaptive sliding mode controller is designed to track the target trajectory curve by combining the adaptive control and sliding mode control methods.Simulation results show that the proposed control strategy can well achive the ship precise trajectory tracking control task.For the ship towing system structure,its mathematical model is developed by introducing the passive steering angle of the towed ship and combining the relationship between the single ship mathematical model and the towing ship structure.On this basis,the robust torque controller is designed by using dynamic trajectory tracking target and adaptive sliding mode control.The simulation results demonstrate that the proposed control strategy is robust against both parametric uncertainties and external disturbances,and is able to accurately track the target trajectory curve for the ship towing system.