【摘要】 针对欠驱动水下无人航行器(UUV)的路径跟踪问题，提出一种基于粒子群优化-非奇异终端滑模(PSO-NTSMC)的路径跟踪控制策略。利用视线法和Serret-Frenet坐标系，构建直线路径跟踪制导律。引入非奇异终端滑模面，设计路径跟踪控制器，实现路径跟踪误差的镇定。通过引入粒子群优化算法优化控制器参数，获得更良好的控制性能。数值仿真结果表明：所设计的控制器能够在有限时间内精确地完成水平面直线路径跟踪任务，并且可以有效地克服恒定未知海流和模型参数摄动的影响。更多还原

【Abstract】 For the path-following problem of underactuated unmanned underwater vehicle(UUV), the path-following control strategy is proposed based on the particle swarm optimization and nonsingular terminal sliding mode control(PSO-NTSMC) method. Firstly, the linear path-following guidance law is developed by line of sight and Serret-Frenet frame. Then, the path-following controller is designed based on the nonsingular terminal sliding mode, which can stabilize the path-following errors. Furthermore, the PSO is introduced to optimize the controller parameters in order to obtain better control performance. Finally, the numerical simulation results show that the designed controller can accurately execute the horizontal straight path following in finite time, and can effectively overcome the influence of constant unknown current and model parameter perturbations.更多还原