无人艇轨迹跟踪的预设性能抗扰控制研究

Research on Prescribed Performance Disturbance Rejection Control of Unmanned Surface Vessels Trajectory Tracking

针对海洋环境干扰下的无人艇轨迹跟踪问题,提出一种预设性能轨迹跟踪抗扰控制方法。首先,该方法通过引入具有约束作用的性能函数设计预设性能反演控制器。同时采用干扰观测器精确补偿外界未知扰动,并引入带σ修正漏项自适应律对海洋环境干扰的界进行估计,实现了无人艇轨迹跟踪抗扰控制,且同时保证其暂态性能和稳态性能。然后根据李雅普诺夫稳定理论证明闭环系统所有状态最终一致有界,且跟踪误差能收敛到预设的区域内。最后通过仿真实验验证了所提算法的有效性。

Aiming to solve the trajectory-tracking problem of unmanned surface vessels in complex environments,a prescribed performance trajectory-tracking control method with disturbance rejection is proposed.Firstly,a performance function with constraints is introduced to design a prescribed performance backstepping controller.The disturbance observer is used to initialize the model by accurately compensating for the unknown disturbance.The adaptive laws based on leakage terms ofσ-modification are used to estimate bounds of disturbance observer errors.The trajectory-tracking and disturbance-rejection control are realized.The transient and steady-state performances are also guaranteed simultaneously.Then based on the Lyapunov stability theory,all states in the closedloop system are uniformly and ultimately bounded,and the tracking errors converged to the prescribed area.Finally,the effectiveness of the algorithm is verified by simulation experiments.