中国舰船研究2025，Vol.20Issue(1)：263-271,9.DOI:10.19693/j.issn.1673-3185.04240
基于BLF的浅水效应下无人船自适应路径跟踪控制
BLF-based adaptive path following control for unmanned surface vehicles under shallow water effects
摘要
Abstract
[Objective]This study investigates how to effectively address path-dependent constraints during the path-following of unmanned surface vessels in complex waterways while ensuring navigation safety and stability.[Method]First,performance and feasibility constraints are established for the vessel's navigation based on the precision and safety requirements of autonomous ships in shallow waters.Next,to address the is-sues of the path parameter representation and convergence requirements of the controller,a barrier Lyapunov function(BLF)combined with a fixed-time convergence strategy is applied.A path-dependent controller cap-able of converging within a fixed time is then designed,and radial basis function neural networks(RBFNN)and adaptive robust terms are used to handle nonlinearities and environmental disturbances.Finally,the intelli-gent unmanned surface vehicle model"Dazhi"is used to simulate shallow water effects,and the controller's performance is analyzed through simulations.[Results]The simulation results show that the path tracking error converges rapidly to the desired region without violating the constraints.Compared to the unconstrained case,the controller demonstrates clear advantages in convergence speed and precision,verifying its effective-ness and robustness.[Conlusions]The proposed control strategy is innovative and significant in addressing path-dependent constraints for ship navigation,ensures precise path tracking within a fixed time,and has signi-ficant theoretical and practical application value.Future research may further optimize the control strategy to address more complex water environments and higher-precision path tracking tasks.关键词
无人船/导航/路径规划/目标跟踪/路径跟踪控制/约束优化/输出约束控制/浅水效应Key words
unmanned vehicles/navigation/path planning/target tracking/path following control/con-strained optimization/output-constrained control/shallow water effect分类
交通工程引用本文复制引用
郭强,王嘉琪,张显库,马道成..基于BLF的浅水效应下无人船自适应路径跟踪控制[J].中国舰船研究,2025,20(1):263-271,9.基金项目
国家自然科学基金资助项目(51679024) （51679024）
