【摘要】 针对具有非对角惯性矩阵和阻尼矩阵的欠驱动无人水面艇(USV)进行了轨迹跟踪控制方法的研究，提出了基于广义动态逆和滑模变结构理论的控制器，实现了闭环系统全局渐近稳定。同时，通过引入动态尺度逆克服动态广义逆可能导致的系统奇异，通过扰动零投影矩阵来避免零投影矩阵的不可逆问题。最后，通过Matlab/Simulink仿真证明了本文方法的有效性。更多还原

【Abstract】 The trajectory tracking control of Underactuated Surface Vehicles(USV) with nondiagonal 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.更多还原