欠驱动水面无人艇鲁棒自适应位置跟踪控制

doi:10.3969/j.issn.1000-1093.2020.07.017

兵工学报 ›› 2020, Vol. 41 ›› Issue (7): 1393-1400.doi: 10.3969/j.issn.1000-1093.2020.07.017

欠驱动水面无人艇鲁棒自适应位置跟踪控制

张成举，王聪，王金强，李聪慧

(哈尔滨工业大学航天学院, 黑龙江哈尔滨 150001)

收稿日期:2019-05-13 修回日期:2019-05-13 上线日期:2020-09-23
通讯作者: 王聪(1966—), 男, 教授, 博士生导师 E-mail:alawang@hit.edu.cn
作者简介:张成举(1993—)，男，博士研究生。 E-mail: cjzhang0516@hotmail.com
基金资助:
国家自然科学基金项目(11672094)

Robust Adaptive Position Tracking Control of Underactuated Unmanned Surface Vehicle

ZHANG Chengju， WANG Cong, WANG Jinqiang, LI Conghui

(School of Astronautics, Harbin Institute of Technology, Harbin 150001, Heilongjiang, China)

Received:2019-05-13 Revised:2019-05-13 Online:2020-09-23

摘要/Abstract

摘要： 为解决考虑参数不确定的欠驱动水面无人艇(USV)在恒定海流干扰下水平面位置跟踪问题，提出一种欠驱动USV神经网络自适应位置跟踪控制策略。基于反步法设计了一种非线性控制器，采用动态面方法获取虚拟变量的导数，减小了虚拟变量直接求导的复杂性；针对欠驱动USV参数不确定问题，运用神经网络自适应方法对USV系统不确定函数进行逼近，克服了欠驱动USV参数不确定难题；设计一种指数收敛海流观测器，有效地估计了恒定海流速度。通过李雅普诺夫稳定性理论证明了该闭环控制系统的稳定性；同时仿真验证了该控制策略的有效性和鲁棒性。

关键词: 欠驱动水面无人艇, 神经网络, 动态面控制, 位置跟踪, 鲁棒性

Abstract: An neural network adaptive position tracking control strategy for underactuated unmanned surface vehicle (USV) is proposed to solve the problem of horizontal position tracking of underactuated USV with unknown uncertainties. A nonlinear controller is designed by using the backstepping method. The dynamic surface method is used to obtain the derivative of dummy variable, which reduces the complexity of direct derivation of dummy variables. The uncertain function of USV system is approximated by employing the neural network adaptive method, which overcomes parameter uncertainty problem. An exponentially convergent current observer is designed to effectively estimate the constant current velocity. The stability of the closed-loop control system is proved by using Lyapunov stability theory. Finally, the effectiveness and robustness of control strategy are verified by simulation experiments. Key

Key words: underactuatedunmannedsurfacevehicle, neuralnetwork, dynamicsurfacecontrol, positiontracking, robust

中图分类号:

TP273⁺.2

张成举，王聪，王金强，李聪慧. 欠驱动水面无人艇鲁棒自适应位置跟踪控制[J]. 兵工学报, 2020, 41(7): 1393-1400.

ZHANG Chengju， WANG Cong, WANG Jinqiang, LI Conghui. Robust Adaptive Position Tracking Control of Underactuated Unmanned Surface Vehicle[J]. Acta Armamentarii, 2020, 41(7): 1393-1400.

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欠驱动水面无人艇鲁棒自适应位置跟踪控制

Robust Adaptive Position Tracking Control of Underactuated Unmanned Surface Vehicle

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