烟台大学学报（自然科学与工程版）2025，Vol.38Issue(4)：379-385,7.DOI:10.13951/j.cnki.37-1213/n.250209
基于一种新型干扰观测器的水面船舶跟踪控制
Tracking Control Based on a Novel Disturbance Observer for Surface Vessel
摘要
Abstract
This paper proposed a time-varying tracking control method based on time-varying disturbance observer for surface vessel systems under unknown external disturbances.First,since the boundary value of external disturb-ances is unknown,we estimated it by incorporating an adaptive mechanism in the disturbance observer design.Sec-ond,we developed an observer design scheme with time-varying parameters to enhance the disturbance observer's estimation performance.Finally,based on the estimated external disturbance signal,we designed a tracking con-troller with time-varying control gain.The proposed control scheme can achieve different tracking performances solely through controller parameter adjustments.Simulation results validate the theoretical findings.关键词
干扰观测器/跟踪控制/时变增益/水面船舶Key words
disturbance observer/tracking control/time-varying gain/surface vessel分类
数理科学引用本文复制引用
徐绍君,姚立强..基于一种新型干扰观测器的水面船舶跟踪控制[J].烟台大学学报（自然科学与工程版）,2025,38(4):379-385,7.基金项目
山东省自然科学基金资助项目(ZR2025MS19). （ZR2025MS19）
