真实海浪干扰下无人艇轨迹跟踪动态性能约束控制

Dynamic Performance Constraint Control for Unmanned Vessel Trajectory Tracking under Real Sea Wave Disturbances

摘要:

针对欠驱动无人艇轨迹跟踪过程中的性能约束问题，提出一种考虑海浪干扰、模型不确定性和执行器饱和下的轨迹跟踪性能约束控制算法；基于海浪谱统计特性构建海浪干扰模型，突破传统简谐波叠加方法无法反映海浪随机性的局限；引入有限时间干扰观测器和单参数神经网络，分别对海浪干扰和模型不确定性进行补偿；采用 tan 形式的障碍 Lyapunov 函数对欠驱动无人艇的跟踪误差进行约束，并设计有限时间辅助动态系统解决输入饱和问题;在证明系统误差收敛基础上通过SimuNPS数值仿真实验验证了控制策略的合理性和有效性。

Abstract:

To address performance constraints in trajectory tracking of underactuated unmanned surface vehicles (USVs, unmanned surface vehicles), a trajectory tracking control algorithm with performance constraints considering wave disturbances, model uncertainties, and actuator saturation is proposed. A wave disturb-ance model is established based on statistical characteristics of wave spectra, overcoming the limitation of traditional harmonic superposition methods that cannot capture wave randomness. A finite-time disturb-ance observer and a single-parameter neural network are introduced to compensate for wave disturbances and model uncertainties, respectively. A tan-type barrier Lyapunov function is adopted to constrain track-ing errors of underactuated USVs, and a finite-time auxiliary dynamic system is designed to address input saturation issues. The rationality and effectiveness of the control strategy are validated through SimuNPS numerical simulations while demonstrating system error convergence.