舰船电子对抗

以无人艇为对象，设计了一种基于卡尔曼滤波器的滑模控制方法，用于无人艇的航向控制。首先，建立了无人艇的诺莫图(Nomoto)模型，基于该模型，设计了一种基于滑模控制的航向控制器。为了缓解滑模控制引起的抖振问题，引入S型生长曲线(Sigmoid)函数替代原来的等速趋近项进而实现调速功能。同时，为了减轻控制过程带来的过程噪声和随机噪声干扰，引入离散卡尔曼滤波器对噪声进行滤波，并利用李雅普诺夫(Lyapunov)方法证明了控制系统的稳定性，随后通过MATLAB仿真实验验证了控制算法的正确性。最后，结合某型无人艇外场实验验证了该滑模航向控制器的有效性。

This paper designs a sliding mode control method based on Kalman filter taking the unmanned surface vehicle(USV) as the target.Firstly, the Nomoto model of USV is established.Based on this model, a heading controller based on sliding mode control is designed.To mitigate the chattering issue arising from sliding mode control, the Sigmoid function is employed to replace the original uniform-speed approaching term, thereby the speed regulation function is achieved.At the same time, in order to reduce the process noise and random noise interferences caused by the control process, a discrete Kalman filter is introduced to filter the noise, and the stability of the control system is proved by using the Lyapunov method.Afterwards, the correctness of the control algorithm is verified through MATLAB simulation experiments.Finally, the effectiveness of the sliding mode heading controller is verified through field experiments on a certain type of USV.