Research on USV Heading Control Method Based on Kalman Filter Sliding Mode Control

A sliding mode control method based on Kalman filter is designed for the heading control of water jet propulsion USV in the horizontal plane. Firstly, the Nomoto model of USV is established. Based on this model, a heading controller based on sliding mode control is designed. In order to alleviate the chattering problem caused by sliding mode control, the Sigmoid function is introduced to improve the traditional exponential approach rate. At the same time, in order to alleviate the process noise and random noise interference brought by the control process, a discrete Kalman filter is introduced to filter the noise, and the stability of the control system is proved by the Lyapunov method. After that, the correctness of the control algorithm is verified by MATLAB simulation experiment. Finally, the "HY-01" unmanned boat independently researched and developed by the research team is used to carry out the actual ship tracking experiment. The experimental results verify the feasibility of the algorithm in practical engineering.