中国舰船研究2024，Vol.19Issue(z1)：10-17,8.DOI:10.19693/j.issn.1673-3185.03088
欠驱动无人艇固定时间轨迹跟踪控制
Fixed-time trajectory tracking control for underactuated surface vessels
王巍凯 1苏航 2张恩华1
作者信息
- 1. 哈尔滨工程大学 水下机器人技术重点实验室,黑龙江 哈尔滨 150001
- 2. 深圳大学 电子与信息工程学院,广东 深圳 518060
- 折叠
摘要
Abstract
[Objectives]This study proposes a fixed-time trajectory tracking control strategy to address the challenges of unmodeled dynamics and external disturbances in underactuated unmanned surface vessels(USVs).[Methods]First,the tracking error system is divided into two channels for controller design through model transformation.Next,in order to accommodate unknown system dynamics and external disturbances,a minimum-learning-parameter-based neural network is adopted to compensate for uncertainties.After that,a fixed-time sliding mode controller is proposed with the application of a hyperbolic tangent function to ensure the fast con-vergence of tracking errors.[Results]The numerical simulation results show that fixed-time convergence for tracking errors can be guaranteed independent of the initial state.[Conclusions]The designed control scheme not only features the effective estimation of uncertainties within the system,but also demonstrates a robust disturbance rejection capability,providing valuable insights for the fixed-time control of USVs.关键词
欠驱动无人艇/固定时间控制/未知干扰/滑模控制/最小参数学习法Key words
underactuated surface unmanned vessels/fix-timed control/unknow disturbance/sliding mode control/minimum-learning-parameter(MLP)分类
交通工程引用本文复制引用
王巍凯,苏航,张恩华..欠驱动无人艇固定时间轨迹跟踪控制[J].中国舰船研究,2024,19(z1):10-17,8.
