中国舰船研究2025，Vol.20Issue(1)：223-231,9.DOI:10.19693/j.issn.1673-3185.03503
基于数据驱动的无人船轨迹跟踪自适应控制
Data-driven unmanned surface vehicles trajectory tracking adaptive control
摘要
Abstract
[Objectives]A data-driven trajectory tracking control scheme is proposed for unmanned surface vehicles(USVs)with uncertain parameters.[Methods]First,the USV kinematics subsystem is processed by the backstepping,and we can obtain the virtual control signal of the kinematics subsystem which ensure the accuracy of the system trajectory tracking.Secondly,the data-driven is used to deal with the USV dynamics subsystem to get the controller which reduces the impact of uncertainties such as unknown disturbances and reduce the complexity of controller design.[Results]The stability of the system is proved by analyzing the pseudo Jacobian matrix and the convergence of the tracking error of dynamics and kinematics.[Conclusions]Simulation results show that the control strategy proposed in this paper can track the expec-ted trajectory effectively,and the effectiveness of the control scheme is verified.关键词
无人船/轨迹跟踪/反步控制/数据驱动/运动控制Key words
unmanned vehicles/trajectory tracking/backstepping control/data-driven/motion control分类
交通工程引用本文复制引用
王维坤,刘加朋,王保防,赵科淇,于金鹏..基于数据驱动的无人船轨迹跟踪自适应控制[J].中国舰船研究,2025,20(1):223-231,9.基金项目
国家重点研发计划资助项目(2017YFB1303503) （2017YFB1303503）
国家自然科学基金资助项目(61973179) （61973179）
长江学者特聘专项计划资助(T2022265) （T2022265）
