存在饱和输入的欠驱动船舶航迹跟踪控制

针对控制输入存在饱和限制的欠驱动船舶的航迹跟踪问题,提出鲁棒饱和控制方法。以船舶纵向速度和艏向角速度为虚拟输入,设计饱和运动学控制器,并引入二阶滤波器形式对控制器进行简化;利用反步法并引入Nussbaum型函数,设计饱和动力学控制器,以实现对任意光滑航迹的跟踪控制,并保证跟踪误差收敛至零点附近的一个有界区域内。仿真算例验证了设计方法的有效性和鲁棒性。

Path tracking control of underactuated ships with input saturation

n this paper, a robust and saturated controller is designed for the path tracking control problem of underactuated ships with input saturation. Firstly, a saturated kinematic controller is designed by interpreting the velocities in the surge and yaw angular velocity of the ship as virtual inputs, and a second-order filter is introduced to reduce the complicity of controller expressions. Secondly, by using the backstepping technique and designing a Nussbaum-type function, a saturated control strategy for the actual inputs is proposed to achieve the tracking of arbitrary smooth paths, where the tracking errors can be forced to converge to a bounded neighborhood of the origin. Finally, the effectiveness and robustness of the proposed controller is validated by means of some simulation results.