哈尔滨工程大学学报2026，Vol.47Issue(3)：516-523,8.DOI:10.11990/jheu.202411002
欠驱动无人艇路径跟踪动态性能约束控制
Path tracking based on dynamic performance constraint control for un-manned surface vehicle
摘要
Abstract
In this paper,the dynamic performance constraint control in the process of heading angle convergence of path tracking for underactuated USV is studied.Firstly,the real wave disturbance model under time-varying en-counter angle is established to replace the traditional simplified model of sine and cosine superposition.Secondly,the finite-time disturbance observer and neural network are introduced to compensate the wave disturbance and the unknown dynamics in the model respectively,and the potential input saturation problem is solved by the auxiliary dynamic system.Then the improved barrier Lyapunov function is introduced into the design of the controller to con-strain the convergence speed of the yaw rate.Finally,the Lyapunov function stability analysis theory is used to prove that all the error signals in the system are ultimately bounded and convergent,and the effectiveness and feasi-bility of the proposed control strategy are verified by SimuNPS numerical simulation analysis.关键词
欠驱动无人艇/路径跟踪/动态性能/状态约束/障碍李雅普诺夫函数/反步法/神经网络/输入饱和Key words
underactuated unmanned surface vehicle/path tracking/dynamic performance/state constraints/bar-rier Lyapunov function/backstepping/neural network/input saturation分类
信息技术与安全科学引用本文复制引用
慕东东,和瑶,吴韬,范云生,杜国飞..欠驱动无人艇路径跟踪动态性能约束控制[J].哈尔滨工程大学学报,2026,47(3):516-523,8.基金项目
国家重点研发计划(2022YFB4301401) （2022YFB4301401）
国家自然科学基金项目(52301360) （52301360）
辽宁省科技厅中试验证项目(2022JH24,10200029) （2022JH24,10200029）
中央高校基本科研业务费专项基金项目(3132024101) （3132024101）
中国博士后科学基金项目(2022M710569) （2022M710569）
辽宁省博士启动基金项目(2022-BS-094) （2022-BS-094）
大连市重点科技攻关项目(2023YF11GX007). （2023YF11GX007）
