%0 Journal Article
%T Sliding-mode robust tracking control for underactuated surface vessels with parameter uncertainties and external disturbances<br>风浪流干扰及参数不确定欠驱动船舶航迹跟踪的滑模鲁棒控制
%A ZHU Qi-dan
%A YU Rui-ting
%A XIA Gui-hua
%A LIU Zhi-lin
%A <br>朱齐丹
%A 于瑞亭
%A 夏桂华
%A 刘志林
%J 控制理论与应用
%D 2012
%I 
%X This paper studies the robust tracking control problem of an underactuated surface vessel with parameter uncertainties and external disturbances, and a sliding-mode methodology is proposed. The controller is divided by backstepping method into the kinetic loop and the dynamic loop. In the kinetic loop, the desired position and the current position are used to determine the reference surge and sway velocities which are employed as the virtual control law in stabilizing the position errors. In the dynamic loop, the virtual control law is considered the new tracking target, and the real control law is designed by the sliding-mode method to realize the tracking control of the reference velocities. Eventually, the tracking control for the underactuated surface vessel is achieved. Simulations of the tracking control for the underactuated surface vessel with disturbances or without disturbances are performed. Results validate the effectiveness of the proposed method.
%K underactuated surface vessel
%K parameter uncertainties
%K external disturbances
%K tracking control<br>欠驱动船舶
%K 参数不确定
%K 外界干扰
%K 跟踪控制
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=8A6EC9640C158E7B118B902E851BE54F&yid=99E9153A83D4CB11&vid=771469D9D58C34FF&iid=DF92D298D3FF1E6E&sid=4986C0B14AED27B4&eid=5357CC5E80802025&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=0