Journal of Terahertz Science and Electronic Information Technology , Volume. 20, Issue 11, 1130(2022)
Generalized dynamic inverse and sliding mode tracking control of underactuated unmanned vehicle
The trajectory tracking control of Underactuated Surface Vehicles(USV) with non-diagonal inertia matrix and damping matrix is studied. The global asymptotic stability of the closed-loop system is achieved by using the controller based on generalized dynamic inverse and sliding mode variable structure method. At the same time, the system singularity caused by dynamic generalized inversion is overcome by introducing dynamic scale inverse. Since zero projection matrix is not invertible, disturbing zero projection matrix is applied. Finally, the effectiveness of this method is proved by Matlab/Simulink simulation.
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HU Fangfang, ZENG Chao, ZHU Gang, LI Shiling. Generalized dynamic inverse and sliding mode tracking control of underactuated unmanned vehicle[J]. Journal of Terahertz Science and Electronic Information Technology , 2022, 20(11): 1130
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Received: May. 22, 2020
Accepted: --
Published Online: Dec. 26, 2022
The Author Email: Fangfang HU (ffanghu@163.com)