无人三体船试验平台的设计与实现

三体船特殊的构型使其非常适合用作水面无人平台(USV)的实验载体,本文介绍了一种自制的三体船型水面无人实验平台的系统设计、控制系统硬件以及实验结果,为以后开展三体船水动力建模、鲁棒控制方法的研究以及水面无人平台的开发提供依据。同时采用基于backstepping的控制方法对三体船进行了实验验证,实验结果表明控制方法的有效性以及平台的可靠性。

The special structure of trimaran makes it suitable for testbed of unmanned surface vehicle.The paper introduces the whole system design,hardware selection,and the experiment result of a home-made trimaran platform named tri0601,which can provide basis for hydrodynamic modeling,robust control research and design of unmanned surface vehicle.The system uses backstepping based controller to guide the trimaran tracking a reference trajectory.The experimental result shows the effectiveness of control algorithm a...