针对欠驱动无人船编队的轨迹跟踪与避障问题，提出一种基于改进DWA的滑模控制算法。首先，通过构建多目标约束评价函数，改进传统动态窗口算法的轨迹评价函数，有效平衡路径平滑性与编队保持需求。其次，在滑模控制中，充分考虑横向速度微分项带来的控制量抖振问题，设计微分跟踪器来改良控制算法，提高稳定性；除此之外，针对外界环境干扰，设计了非线性干扰观测器对干扰进行观测补偿。最后通过3组仿真试验表明，该方法在复杂海洋场景下具备良好的轨迹跟踪精度、避障可靠性及系统鲁棒性，为无人船编队智能控制提供了新的解决方案。
This paper presents a sliding mode control algorithm based on an improved Dynamic Window Approach (DWA) to tackle the challenges of trajectory tracking and obstacle avoidance problem in formations of underactuated unmanned surface vehicles (USVs). First, the trajectory evaluation function in the traditional DWA is enhanced by constructing a multi-objective constrained evaluation function that effectively balances path smoothness with formation coherence. Secondly, considering the chattering in control input caused by the differential term of lateral velocity in sliding mode control, a differential tracker is designed to optimize the control algorithm and improve system stability. In addition, a nonlinear disturbance observer is developed to estimate and compensate for external environmental disturbances. Finally, three sets of simulation experiments demonstrate that the proposed method achieves high trajectory tracking accuracy, reliable obstacle avoidance, and strong robustness in complex marine environments, offering a promising solution for intelligent USV formation control.
2025,47(13): 63-71 收稿日期：2025-6-18
DOI：10.3404/j.issn.1672-7649.2025.13.012
分类号：U695
作者简介：张镜照(1979-),男,高级工程师,研究方向为船舶电气工程、自动化领域和工程应用
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