Finite-time output feedback path following control of underactuated MSV based on FTESO
Finite-time output feedback path following control of underactuated MSV based on FTESO
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基于FTESO的欠驱动MSV有限时间输出反馈路径跟踪控制
DOI：
10.1016/j.oceaneng.2021.108660
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发表时间：
2021-03
影响因子：
5
通讯作者：
Shibin Song
中科院分区：
文献类型：
--
作者：
Jun Nie;Haixia Wang;Xiao Lu;Xiaogong Lin;Chunyang Sheng;Zhiguo Zhang;Shibin Song
针对未知速度、未知动态和未知外部环境扰动，设计了欠驱动水面航行器的有限时间输出反馈路径跟踪控制策略。首先，设计了一种新的有限时间扩展状态观测器(FTESO)，用于在有限时间内精确观测未知速度和未知集中扰动。其次，根据FTESO的输出，提出了基于速度观测的有限时间视线制导方法来获取参考偏航角。第三，通过反推方法构造有限时间输出反馈路径跟踪控制器，跟踪期望路径，并具有精确的跟踪性能。根据齐次理论和李亚普诺夫理论，证明了FTESO的观测误差能够收敛到零，路径跟踪误差能够在有限时间内收敛到零附近的任意小区域。通过仿真对比研究，验证了所设计的有限时间输出反馈路径跟踪策略的有效性。
The paper designs a finite-time output feedback path following control strategy of underactuated marine surface vehicle (MSV) with the unavailable velocity, the unknown dynamic and unknown external environment disturbances. Firstly, a new finite time extended state observer (FTESO) is devised to accurately observe the unknown velocity and unknown lumped disturbances within finite time. Secondly, depending on the output of FTESO, the velocity observation-based finite-time LOS guidance approach is raised to acquire the reference yaw angle. Thirdly, the finite-time output feedback path following controllers are constructed through the backstepping method to track the desired path with precise tracking performance. It has been demonstrated that the observation error of FTESO is capable of converging to zero and the path following error is able to converge to an arbitrarily small domain near zero in finite time according to the homogeneous theory and the Lyapunov theory. Simulation comparison researches are performed to demonstrate the availability of the designed finite-time output feedback path following strategy.
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