This paper aims to solve the finite-time trajectory tracking problem of underactuated surface ships under the influence of dynamic uncertainty,unknown external time-varying interference and limited communication resou...This paper aims to solve the finite-time trajectory tracking problem of underactuated surface ships under the influence of dynamic uncertainty,unknown external time-varying interference and limited communication resources.An event-triggered robust adaptive finite-time trajectory tracking control method for underactuated ships is designed by combining the existing trajectory tracking control methods and engineering needs in actual navigation.It can obviously improve the tracking accuracy of the ship,and complete the tracking task safely and efficiently.This scheme transforms the composite uncertain vector synthesized by uncertain parameters and external disturbances into a linear parameterized form.Next,considering the limitation of communication resources,a relative threshold event triggering mechanism is introduced to further extend the triggering time interval on the basis of the fixed threshold triggering scheme.Then,an event-triggered robust adaptive finite-time trajectory tracking control scheme is designed for underactuated ships,and a rigorous stability proof is provided through Lyapunov stability theory.Simulation experiment is carried out in MATLAB and the results show that the finite-time trajectory tracking control scheme proposed in this paper can effectively solve the problems of dynamic uncertainty.unknown time-varying external interference and limitation of communication resources.This paper can provide theoretical support for the autonomous navigation of intelligent ships.展开更多
基金National Natural Science Foundation of China(Grant No.51911540478)Shandong Pr ovincial Key Research and Development Plan(Grant No.2019JZZY020712)+3 种基金Shandong Provincial Graduate Education and Teaching Reform Research Project(Grant No.SDYJG19217)Shandong Jiaotong University Doctoral Research and Entrepr eneurship Fund and Shandong Jiaotong University Climbing Research and Innovation Team Plan(Grant No.SDJTUC1802)Shandong Provincial Natural Science Foundation(Grant No.ZR2022ME087)Shandong Intelligent Transportation Key Labor atory(under preparation).
文摘This paper aims to solve the finite-time trajectory tracking problem of underactuated surface ships under the influence of dynamic uncertainty,unknown external time-varying interference and limited communication resources.An event-triggered robust adaptive finite-time trajectory tracking control method for underactuated ships is designed by combining the existing trajectory tracking control methods and engineering needs in actual navigation.It can obviously improve the tracking accuracy of the ship,and complete the tracking task safely and efficiently.This scheme transforms the composite uncertain vector synthesized by uncertain parameters and external disturbances into a linear parameterized form.Next,considering the limitation of communication resources,a relative threshold event triggering mechanism is introduced to further extend the triggering time interval on the basis of the fixed threshold triggering scheme.Then,an event-triggered robust adaptive finite-time trajectory tracking control scheme is designed for underactuated ships,and a rigorous stability proof is provided through Lyapunov stability theory.Simulation experiment is carried out in MATLAB and the results show that the finite-time trajectory tracking control scheme proposed in this paper can effectively solve the problems of dynamic uncertainty.unknown time-varying external interference and limitation of communication resources.This paper can provide theoretical support for the autonomous navigation of intelligent ships.
