A Novel Fast Terminal Sliding Mode Control Method Based on Immersion and Invariance for Course Control of USV

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• 英文论文题名：A Novel Fast Terminal Sliding Mode Control Method Based on Immersion and Invariance for Course Control of USV
• 论文作者：XUE Wentao ; ZHANG Chen ; LI Jianzhen ; WANG Yulong
• 英文论文作者：XUE Wentao ; ZHANG Chen ; LI Jianzhen ; WANG Yulong ; School of Electronics and Information ; Jiangsu University of Science and Technology
• 年：2017
• 作者机构：School of Electronics and Information,Jiangsu University of Science and Technology;
• 英文论文关键词：Unmanned surface vehicle ; Terminal sliding mode ; Immersion and invariant theory ; Adaptive law
• 会议召开时间：2017-07-26
• 会议录名称：第36届中国控制会议论文集（B）
• 英文会议录名称：Proceedings of the 36th Chinese Control Conference（B）
• 语种：英文
• 分类号：U664.82
• 学会代码：KZLL
• 会议名称：第36届中国控制会议
• 会议地点：中国辽宁大连
• 主办单位：中国自动化学会控制理论专业委员会
• 学会名称：中国自动化学会控制理论专业委员会
• 页数：6
• 文件大小：414k
• 原文格式：D
• 会议级别：全国

摘要

The course control of an unmanned surface vehicle(USV) with water-jet-propelled is addressed using a novel fast terminal sliding mode control approach based on system immersion and manifold invariant(FTSMC-I&I).The control scheme can ensure all error signals globally exponentially converge to origin in finite-time by the novel fast terminal sliding mode controller.In addition,I&I method is applied to design an adaptive disturbance estimator in order to improve estimation accuracy and convergence speed with respect to parametric uncertainties and disturbances that are encountered in sailing applications.Meanwhile,an additional compensation item is introduced into the adaptive law to keep the estimation error manifold invariant and attractive.As a result,the estimation error of disturbances tends to zero and its dynamic process can be adjusted.It is shown that the proposed method can guarantee the asymptotical stability and the finite time convergence of the system from Lyapunov stability analysis.Compared with the backstepping adaptive sliding mode control,the proposed control method can achieve higher precision and better robustness in the presence of practical input limits.
The course control of an unmanned surface vehicle(USV) with water-jet-propelled is addressed using a novel fast terminal sliding mode control approach based on system immersion and manifold invariant(FTSMC-I&I).The control scheme can ensure all error signals globally exponentially converge to origin in finite-time by the novel fast terminal sliding mode controller.In addition,I&I method is applied to design an adaptive disturbance estimator in order to improve estimation accuracy and convergence speed with respect to parametric uncertainties and disturbances that are encountered in sailing applications.Meanwhile,an additional compensation item is introduced into the adaptive law to keep the estimation error manifold invariant and attractive.As a result,the estimation error of disturbances tends to zero and its dynamic process can be adjusted.It is shown that the proposed method can guarantee the asymptotical stability and the finite time convergence of the system from Lyapunov stability analysis.Compared with the backstepping adaptive sliding mode control,the proposed control method can achieve higher precision and better robustness in the presence of practical input limits.

引文

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