烟台大学学报（自然科学与工程版）2026，Vol.39Issue(2)：134-142,9.DOI:10.13951/j.cnki.37-1213/n.250802
带有推进器饱和的水面船舶预定时间跟踪控制
Predefined-Time Tracking Control of Marine Surface Vessels under Thruster Saturation
摘要
Abstract
This paper addresses the predefined-time trajectory tracking problem for a class of surface ships subject tothruster saturation.First,a simply structured auxiliary dynamic filter(ADF)with anadjustable filtering rate is designed.The ADF output is used to correct the control error in real time,thereby mitigating the adverse effects of thruster saturation.Second,within a backstepping control framework,a predefined-time tracking control(PTTC)scheme is developed based on Lyapunov stability theory.This scheme exhibits fast saturation correction capability and guarantees that the desired anti-saturation trajectory tracking performance is achieved within a predefined time.Finally,the effectiveness and feasibility of the proposed method are verified through numerical simulations using the Cyber Ship Ⅱ surface ship model.关键词
水面船舶/反推控制/推进器饱和/跟踪控制/预定时间收敛Key words
marine surface vessel/backstepping control/thruster saturation/tracking control/predefined-time convergence分类
数理科学引用本文复制引用
张宸,董乐伟,李武全..带有推进器饱和的水面船舶预定时间跟踪控制[J].烟台大学学报（自然科学与工程版）,2026,39(2):134-142,9.基金项目
国家自然科学基金资助项目(62373179) （62373179）
山东省自然科学基金资助项目(ZR2025QC682). （ZR2025QC682）
