LI Ou-xue，ZHOU Yu-sheng.Motion Control Design of the Underactuated Unmanned Ship[J].Journal of Chongqing Technology and Business University(Natural Science Edition）,2021,38(4):23-29

Motion Control Design of the Underactuated Unmanned Ship

DOI：

 作者 单位 李欧雪， 周宇生 贵州大学 数学与统计学院，贵阳 550025

针对欠驱动无人船在受到非完整约束和模型不精确时对精确轨迹跟踪控制设计困难，提出了曲率跟踪和逆动力学自适应控制设计方法；首先建立欠驱动无人船水平面的运动学和动力学模型，充分利用其非完整约束下的运动规律基础上引入目标轨迹曲线的相对曲率设计动态跟踪目标，从而将原问题转化为一个简单轨迹跟踪控制问题；然后基于滑模控制和逆动力学自适应控制设计力矩控制实现给定的运动任务；仿真结果表明，方法不但可以使欠驱动无人船精确地沿着给定目标轨迹运动，并且具有很强的鲁棒性；由于方法本质上跟踪的是目标轨迹的相对曲率，可以从根本上解决了欠驱动无人船的轨迹跟踪精确性问题，这为一般的欠驱动非完整机械结构的精确运动控制设计提供了一种新的思路。

Curvature tracking and inverse dynamics adaptive control method are proposed to solve the problem of that the precise trajectory tracking control of underactuated unmanned ship becomes difficult due to the influence of nonholonomic constraint and model imprecision. In the first place， we establish the kinematics and dynamics models on the horizontal plane. Then， the original problem is transformed into a simple tracking control problem by making full use of the motion law under the nonholonomic constraint and introducing the relative curvature of the target curve to construct a dynamical tracking target. After that， the torque controller is designed to realize a given motion task based on sliding mode control and inverse dynamic adaptive control method. Simulation results show that the curvature tracking method can not only make the underactuated unmanned ship follow a given target trajectory accurately， but also lead to high robustness. Since the proposed method essentially tracks the relative curvature of the target trajectory， it can fundamentally solve the problem of trajectory tracking accuracy of underactuated unmanned ship， which provides a new idea for the precise motion control design of general underactuated nonholonomic mechanical structures.