Chinese Journal of Ship Research, Volume. 20, Issue 1, 247(2025)
Adaptive surge control of variable-mass unmanned surface vehicle based on super-twisting sliding mode observation
Figures & Tables(44)
Fig. 15. Estimated hydrodynamic derivative with a step change mass under velocity control质量阶跃变化航速控制下的水动力导数项观测结果
Fig. 16. Estimated hydrodynamic derivative with a step change mass under velocity control质量阶跃变化航速控制下的水动力导数项观测结果
Fig. 17. Estimated hydrodynamic derivative with a step change mass under velocity control质量阶跃变化航速控制下的水动力导数项观测结果
Fig. 18. Estimated hydrodynamic derivative with a step change mass under velocity control质量阶跃变化航速控制下的水动力导数项观测结果
Fig. 23. Estimated hydrodynamic derivative with continuous change mass under velocity control质量连续变化航速控制下的水动力导数项观测结果
Fig. 24. Estimated hydrodynamic derivative with continuous change mass under velocity control质量连续变化航速控制下的水动力导数项观测结果
Fig. 25. Estimated hydrodynamic derivative with continuous change mass under velocity control质量连续变化航速控制下的水动力导数项观测结果
Fig. 26. Estimated hydrodynamic derivative with continuous change mass under velocity control质量连续变化航速控制下的水动力导数项观测结果
Fig. 27. Estimated bait release speed with continuous change mass under velocity control质量连续变化航速控制下的饵料投放速度观测结果
Fig. 32. Estimated hydrodynamic derivative with external disturbance under velocity control环境干扰下水动力导数项观测结果
Fig. 33. Estimated hydrodynamic derivative with external disturbance环境干扰下水动力导数项观测结果
Fig. 34. Estimated hydrodynamic derivative with external disturbance环境干扰下水动力导数项观测结果
Fig. 35. Estimated hydrodynamic derivative with external disturbance under velocity control环境干扰下水动力导数项观测结果
Table 1. Hydrodynamic derivatives varying with draft
View tableView in ArticleTable 1. Hydrodynamic derivatives varying with draft
参数项 表述形式 所在矩阵 $ {X_{\dot u}}(t) $ $ {X_{\dot u}}(t) = {X'_{\dot u}} \cdot d{(t)^2} $ ${{\boldsymbol{M}}_{\text{A}}}$ ,${{\boldsymbol{C}}_{\text{A}}}{\text{(}}{\boldsymbol{v}})$ $ {Y_{\dot v}}(t) $ $ {Y_{\dot v}}(t) = {Y'_{\dot v}} \cdot d{(t)^2} + {Y''_{\dot v}} \cdot d(t) $ ${{\boldsymbol{M}}_{\text{A}}}$ ,${{\boldsymbol{C}}_{\text{A}}}({\boldsymbol{v}})$ $ {N_{\dot r}}(t) $ $ {N_{\dot r}}(t) = {N'_{\dot r}} \cdot d{(t)^2} + {N''_{\dot r}} \cdot d(t) $ ${{\boldsymbol{M}}_{\text{A}}}$ ${X_u}(t)$ ${X_u}(t) = {X'_u} \cdot d{(t)^2} + {X''_u} \cdot d(t)$ ${{\boldsymbol{D}}_{\text{L}}}$ ${Y_v}(t)$ $ {Y_v}(t) = {Y'_v} \cdot d{(t)^2} + {Y''_v} \cdot d(t) $ ${{\boldsymbol{D}}_{\text{L}}}$ ${Y_r}(t)$ ${Y_r}(t) = {Y'_r} \cdot d{(t)^2}$ ${{\boldsymbol{D}}_{\text{L}}}$ ${N_v}(t)$ ${N_v}(t) = {N'_v} \cdot d{(t)^2}$ ${{\boldsymbol{D}}_{\text{L}}}$ ${N_r}(t)$ $ {N_r}(t) = {N'_r} \cdot d{(t)^3} + {N''_r} \cdot d{(t)^2} $ ${{\boldsymbol{D}}_{\text{L}}}$ ${X_{u|u|}}(t)$ ${X_{u|u|}}(t) = {X'_{u|u|}} \cdot d(t) + {X''_{u|u|}}$ ${{\boldsymbol{D}}_{\text{N}}}({\boldsymbol{v}})$ ${Y_{v|v|}}(t)$ ${Y_{v|v|}}(t) = {Y'_{v|v|}} \cdot d{(t)^2} + {Y''_{v|v|}} \cdot d(t)$ ${{\boldsymbol{D}}_{\text{N}}}({\boldsymbol{v}})$ ${Y_{v|r|}}(t)$ ${Y_{v|r|}}(t) = {Y'_{v|r|}} \cdot d{(t)^2} + {Y''_{v|r|}} \cdot d(t)$ ${{\boldsymbol{D}}_{\text{N}}}({\boldsymbol{v}})$ ${Y_{r|v|}}(t)$ ${Y_{r|v|}}(t) = {Y'_{r|v|}} \cdot d{(t)^2}$ ${{\boldsymbol{D}}_{\text{N}}}({\boldsymbol{v}})$ ${Y_{r|r|}}(t)$ ${Y_{r|r|}}(t) = {Y'_{r|r|}} \cdot d{(t)^2} + {Y''_{r|r|}} \cdot d(t)$ ${{\boldsymbol{D}}_{\text{N}}}({\boldsymbol{v}})$ ${N_{v|v|}}(t)$ ${N_{v|v|}}(t) = {N'_{v|v|}} \cdot d{(t)^2} + {N''_{v|v|}} \cdot d(t)$ ${{\boldsymbol{D}}_{\text{N}}}({\boldsymbol{v}})$ ${N_{v|r|}}(t)$ ${N_{v|r|}}(t) = {N'_{v|r|}} \cdot d{(t)^2} + {N''_{v|r|}} \cdot d(t)$ ${{\boldsymbol{D}}_{\text{N}}}({\boldsymbol{v}})$ ${N_{r|v|}}(t)$ ${N_{r|v|}}(t) = {N'_{r|v|}} \cdot d{(t)^2}$ ${{\boldsymbol{D}}_{\text{N}}}({\boldsymbol{v}})$ ${N_{r|r|}}(t)$ ${N_{r|r|}}(t) = {N'_{r|r|}} \cdot d(t)$ ${{\boldsymbol{D}}_{\text{N}}}({\boldsymbol{v}})$
Table 2. Basic parameters of variable-mass catamaran USV
View tableView in ArticleTable 2. Basic parameters of variable-mass catamaran USV
参数 空载状态 满载状态 片体长度/m 2.10 2.10 片体宽度/m 0.350 0.350 片体间距/m 0.350 0.350 排水量/kg 100 200 吃水/m 0.121 0.243
Table 3. Quantitative analysis of simulation experiments result with a step change mass
View tableView in ArticleTable 3. Quantitative analysis of simulation experiments result with a step change mass
观测项目名 称 平均观测误差 最大观测误差 SMO吃水/m $3.200 \times {10^{ - 3}}$ $ - 3.64 \times {10^{ - 2}}$ STSMO吃水/m $1.800 \times {10^{ - 3}}$ $ - 3.64 \times {10^{ - 2}}$ SMO质量/kg 2.630 −29.931 STSMO质量/kg 1.479 −29.997 SMO纵荡速度/(m·s−1) $2.600 \times {10^{ - 3}}$ $6.25 \times {10^{ - 2}}$ STSMO纵荡速度/(m·s−1) $1.600 \times {10^{ - 3}}$ $5.69 \times {10^{ - 2}}$ SMO横漂速度/(m·s−1) $2.600 \times {10^{ - 3}}$ $3.39 \times {10^{ - 2}}$ STSMO横漂速度/(m·s−1) $1.900 \times {10^{ - 3}}$ $2.66 \times {10^{ - 2}}$ SMO转艏角速度/(rad·s−1) $3.400 \times {10^{ - 3}}$ $3.72 \times {10^{ - 2}}$ STSMO转艏角速度/(rad·s−1) $2.300 \times {10^{ - 3}}$ $2.99 \times {10^{ - 2}}$
Table 4. Quantitative analysis of simulation experiment results with a continuous change mass
View tableView in ArticleTable 4. Quantitative analysis of simulation experiment results with a continuous change mass
观测项目名称 平均观测误差 最大观测误差 SMO吃水/m $ 5.662 \times {10^{ - 4}} $ $ - 1.71 \times {10^{ - 2}}$ STSMO吃水/m $1.366 \times {10^{ - 4}}$ $ - 1.71 \times {10^{ - 2}}$ SMO质量/kg 0.466 −14.052 STSMO质量/kg 0.112 −14.052 SMO纵荡速度/(m·s−1) $7.727 \times {10^{ - 4}}$ $6.38 \times {10^{ - 2}}$ STSMO纵荡速度/(m·s−1) $4.854 \times {10^{ - 4}}$ $5.81 \times {10^{ - 2}}$ SMO横漂速度/(m·s−1) $1.964 \times {10^{ - 4}}$ $5.20 \times {10^{ - 3}}$ STSMO横漂速度/(m·s−1) $3.716 \times {10^{ - 5}}$ $1.90 \times {10^{ - 3}}$ SMO转艏角速度/(rad·s−1) $2.609 \times {10^{ - 4}}$ $6.50 \times {10^{ - 3}}$ STSMO转艏角速度/(rad·s−1) $6.366 \times {10^{ - 5}}$ $2.90 \times {10^{ - 3}}$
Table 5. Quantitative analysis of simulation experiment for speed control with a step change mass
View tableView in ArticleTable 5. Quantitative analysis of simulation experiment for speed control with a step change mass
观测项目名称 调节时间/s 平均偏差 最大偏差 STSMO吃水/m − $1.920 \times {10^{ - 3}}$ $ - 3.645 \times {10^{ - 2}}$ STSMO质量/kg − 1.581 −30.002 自适应变质量控制器 观测航速/(m·s−1) 5.2 $1.781 \times {10^{ - 2}}$ $ - 2.27 \times {10^{ - 2}}$ Backstepping控制器 观测航速/(m·s−1) 2.2 $6.727 \times {10^{ - 2}}$ $9.210 \times {10^{ - 2}}$
Table 6. Quantitative analysis of simultation experiment for velocity control results with continuous change mass
View tableView in ArticleTable 6. Quantitative analysis of simultation experiment for velocity control results with continuous change mass
项目名称 调节时间/s 平均偏差 最大偏差 STSMO吃水观测值/m − $4.552 \times {10^{ - 6}}$ $ - 2.960 \times {10^{ - 5}}$ 投饵速度观测值/(kg·s−1) − $7.200 \times {10^{ - 8}}$ $7.200 \times {10^{ - 8}}$ 目标航速估计值/(m·s−1) − $3.600 \times {10^{ - 5}}$ $ 3.600 \times {10^{ - 5}} $ 自适应变质量控制器 观测航速/(m·s−1) 2.5 $8.537 \times {10^{ - 3}}$ $1.011 \times {10^{ - 2}}$
Table 7. Quantitative analysis of simulation experiment for velocityt control results w/ or w/o external disturbance
View tableView in ArticleTable 7. Quantitative analysis of simulation experiment for velocityt control results w/ or w/o external disturbance
名称 调节时间/s 平均偏差 最大偏差 有干扰下吃水/m − $2.882 \times {10^{ - 3}}$ $ - 3.570 \times {10^{ - 2}}$ 无干扰下吃水/m − $1.920 \times {10^{ - 3}}$ $ - 3.645 \times {10^{ - 2}}$ 有干扰下质量/kg − 2.373 −29.389 无干扰下质量/kg − 1.581 −30.002 有干扰控制下航速/(m·s−1) 5.1 $1.996 \times {10^{ - 2}}$ $ - 2.966 \times {10^{ - 2}}$ 无干扰控制下航速/(m·s−1) 5.2 $1.781 \times {10^{ - 2}}$ $ - 2.27 \times {10^{ - 2}}$
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Zhaokun YAN, Guanyu YANG, Hongdong WANG. Adaptive surge control of variable-mass unmanned surface vehicle based on super-twisting sliding mode observation[J]. Chinese Journal of Ship Research, 2025, 20(1): 247
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Category: Motion Control
Received: Aug. 20, 2023
Accepted: --
Published Online: Mar. 13, 2025
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