非完全对称无人两栖平台轨迹跟踪及仿真

摘要

The trajectory tracking control in water condition of incomplete symmetry unmanned amphibious platform is discussed in order to obtain high reliability and maneuverability.Considering the off-diagonal items in damping coefficient and non-zero inertia coefficient matrices,the global diffeomorphism is firstly applied to the mathematical model of unmanned amphibious platform,and two cascaded subsystems are obtained.Then the tracking error system,which is equivalent to the original trajectory tracking system,is established based on this cascaded system,and the error stabilization controller is developed based on the backstepping sliding mode control and Lyapunov direct method.In the end,the effectiveness of the controller is validated by simulation,and the results show that the global diffeomorphism and cascaded system analysis are correct and effective,and the error stabilization controller manages to steer the incomplete symmetry unmanned amphibious platform to track the straight and circulum trajectories.%为了实现非完全对称无人两栖平台水上工况的高可靠性和机动性,研究了轨迹跟踪控制问题.考虑到阻尼系数矩阵和惯性系数矩阵非对角线元素存在非零项,首先对无人两栖平台原数学模型进行两次全局微分同胚变换,得到2个相互级联的子系统.然后采用此级联系统构造误差模型,将轨迹跟踪问题转化为误差镇定问题,并且根据反步滑模控制理论,应用Lyapunov直接法设计了误差镇定控制器.最后通过仿真验证了控制器的有效性,结果表明,全局微分同胚变换以及级联系统分析正确有效,误差镇定控制器可有效实现非完全对称无人两栖平台对直线和曲线轨迹的稳定跟踪.