Robust Path Following Control of Underactuated Unmanned Surface Vehicle With Disturbances and Input Saturation
Robust Path Following Control of Underactuated Unmanned Surface Vehicle With Disturbances and Input Saturation
复制标题
DOI：
10.1109/access.2021.3068146
复制
发表时间：
2021
期刊：
影响因子：
3.9
通讯作者：
Yongsheng Zhao;Bingbing Qiu;Guofeng Wang;Yunsheng Fan
中科院分区：
文献类型：
--
作者：
Yongsheng Zhao;Bingbing Qiu;Guofeng Wang;Yunsheng Fan
研究了具有不确定性和环境干扰的欠驱动无人水面车辆的精确路径跟踪问题。该方案可分为制导回路和控制回路：在制导回路中，利用所提出的制导律计算期望偏航角，同时估计未知电流和侧滑角；在控制回路中，采用增强的轨迹线性化控制（TLC）技术、非线性跟踪微分器（NTD）、基于sigmoid函数的扰动观测器（SDO）和辅助动力系统，建立了一种新的鲁棒路径跟踪控制律。采用增强TLC作为主要控制框架，设计了简明的横摆角速度和浪涌速度控制律，使所设计的控制律简单，易于在实际中实现。采用SDO和辅助动态系统分别处理未知扰动和输入饱和。同时，NTD可以提供理想的差分和滤波效果。理论分析表明，整个系统中的所有信号最终都是一致有界的。最后，通过对比仿真验证了该方案的有效性和优越性。
This paper focuses on the accurate path following problem for an underactuated unmanned surface vehicle with uncertainties and environment disturbances. The proposed scheme can be divided into guidance loop and control loop: in the guidance loop, the proposed guidance law is utilized to calculate the desired yaw angle, as well as estimating unknown currents and sideslip angle simultaneously; in the control loop, a novel robust path following control law is developed by enhanced trajectory linearization control (TLC) technology, nonlinear tracking differentiator (NTD), sigmoid function based disturbance observer (SDO) and auxiliary dynamic system. The enhanced TLC is used as the main control framework to design the concise yaw rate and surge speed control laws, which makes the designed control law be simple and easy to implement in practice. SDO and auxiliary dynamic system are adopted to deal with unknown disturbances and input saturation, respectively. Meanwhile, NTD can provide an ideal differential and filtering effect. Theoretical analysis indicates that all the signals in the entire system are uniformly ultimately bounded. Finally, a comparative simulation substantiates the availability and superiority of the proposed scheme.