考虑海洋环境干扰和未建模动力学，为具有规定性能的水面无人船提供规定时间轨迹跟踪控制

IF 2.7 3区地球科学 Q1 ENGINEERING, MARINE

Journal of Marine Science and Engineering Pub Date : 2024-08-12 DOI:10.3390/jmse12081380

Bowen Sui, Yiping Liu, Jianqiang Zhang, Zhong Liu, Yuanyuan Zhang

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引用次数: 0

摘要

本文研究了一种考虑海洋环境干扰和未建模动态的 USV 规定时间轨迹跟踪控制策略。首先，引入了固定时间扩展状态观测器，以快速准确地观测包括海洋干扰和非模型动力学在内的复合扰动。随后，利用规定时间规定性能函数，在预定时间内获得有保证的瞬态性能。最后，结合固定时间扩展状态观测器、动态表面控制技术和规定时间规定性能控制，开发出一种规定时间规定性能控制策略，以保证跟踪误差在规定时间内收敛到预定的性能约束边界。仿真结果验证了所提出的控制策略的有效性和优越性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Prescribed-Time Trajectory Tracking Control for Unmanned Surface Vessels with Prescribed Performance Considering Marine Environmental Interferences and Unmodeled Dynamics

This article investigates a prescribed-time trajectory tracking control strategy for USVs considering marine environmental interferences and unmodeled dynamics. Firstly, a fixed-time extended state observer is introduced to quickly and accurately observe the compound perturbations including ocean disturbances and unmodeled dynamics. Subsequently, a prescribed-time prescribed performance function is utilized to obtain guaranteed transient performance within a predefined time. Finally, combining the fixed-time extended state observer, dynamic surface control technique, and prescribed-time prescribed performance control, a prescribed-time prescribed performance control strategy is developed to guarantee that the tracking errors converge to a predefined performance constraint boundary within a prescribed time. The effectiveness and superiority of the presented control strategy is verified by the simulation results.

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来源期刊

Journal of Marine Science and Engineering Engineering-Ocean Engineering

CiteScore

4.40

自引率

20.70%

发文量

1640

审稿时长

18.09 days

期刊介绍： Journal of Marine Science and Engineering (JMSE; ISSN 2077-1312) is an international, peer-reviewed open access journal which provides an advanced forum for studies related to marine science and engineering. It publishes reviews, research papers and communications. Our aim is to encourage scientists to publish their experimental and theoretical results in as much detail as possible. There is no restriction on the length of the papers. The full experimental details must be provided so that the results can be reproduced. Electronic files and software regarding the full details of the calculation or experimental procedure, if unable to be published in a normal way, can be deposited as supplementary electronic material.