哈尔滨工程大学学报2026，Vol.47Issue(3)：491-498,8.DOI:10.11990/jheu.202412050
无人船预定义时间自适应轨迹跟踪控制
Predefined-time adaptive tracking control for unmanned surface vessels
摘要
Abstract
This paper addresses the predefined-time trajectory tracking control problem for unmanned surface ves-sels(USVs)under unknown environmental disturbances and uncertain model parameters.An adaptive predefined-time control method with strong engineering applicability is proposed.First,a sufficient condition for practical predefined-time stability is derived,which ensures that the tracking error converges to a small neighborhood of the origin within a user-specified time.Second,to handle the lumped disturbance arising from parameter uncertainties and external disturbances,a single-parameter learning framework is introduced.It converts the disturbance into a linear form with respect to one adaptive parameter,thereby reducing the dependence on precise model information.Furthermore,an adaptive controller is designed based on the backstepping framework,which explicitly links the design parameters to the system regulation time and enhances implementation feasibility.Simulation results demon-strate that the proposed scheme achieves fast and accurate trajectory tracking within the predefined time under various initial conditions.The proposed approach provides theoretical guidance and design reference for high-precision and fast tracking control of USVs operating in complex marine environments.关键词
无人船/预定义时间控制/单参数学习/反步控制/自适应控制/跟踪控制/未知扰动/参数不确定性Key words
unmanned surface vessels/predefined-time control/single-parameter learning/backstepping control/adaptive control/trajectory tracking control/unknown disturbance/parameter uncertainty分类
交通工程引用本文复制引用
曾道辉,蔡成涛,刘永超,赵健,赵杰..无人船预定义时间自适应轨迹跟踪控制[J].哈尔滨工程大学学报,2026,47(3):491-498,8.基金项目
黑龙江省自然科学基金重点项目(ZD2022F001). （ZD2022F001）
