Patrol path tracking control system and method of differential drive unmanned ship based on sliding mode control

The invention discloses a patrol path tracking control system and method for a differential drive unmanned ship based on sliding mode control. The system comprises an unmanned ship model and a sliding mode controller. The unmanned ship model comprises a kinematics model, a dynamics model and a propeller motor model; the sliding mode controller comprises a torque controller based on sliding mode control and a motor controller based on sliding mode control; converting the position information provided by the kinematic model into a course angle through a sight guidance method, and outputting the course angle to a torque controller based on sliding mode control, so as to obtain a control torque; and inputting the control torque and the motor rotating speed into a motor controller based on sliding mode control to obtain a pulse width modulation duty ratio of a propeller motor, and controlling the motor rotating speed of the propeller motor based on the pulse width modulation duty ratio. According to the invention,