中国舰船研究2026，Vol.21Issue(2)：367-379,13.DOI:10.19693/j.issn.1673-3185.04313
基于事件触发与创新制导的欠驱动无人艇固定时间路径跟踪
Event-triggered and innovative guidance-based fixed-time path tracking for underactuated unmanned surface vehicles
摘要
Abstract
[Objective]This paper addresses the path tracking control problem for underactuated unmanned surface vehicles(USVs)under the conditions of lumped disturbances,input saturation,and limited onboard en-ergy.These factors complicate the path tracking process and reduce the effectiveness of traditional control methods.The aim of this study is to propose an event-triggered fixed-time path tracking control strategy that improves robustness,energy efficiency,and tracking precision in complex environments.[Methods]The proposed control strategy integrates several key components to address the challenges mentioned.First,a lon-gitudinal speed guidance law and a fixed-time line-of-sight(SGFTLOS)guidance law are designed to provide the desired longitudinal speed and heading angle for the USV,ensuring it follows the trajectory with optimal speed and heading.Next,to handle model uncertainties and external disturbances(such as wind and current),a Fixed-Time Extended State Observer(FESO)is introduced.The FESO estimates and compensates for lumped disturbances,improving the system's robustness in uncertain environments.To address input saturation,an auxiliary dynamic system is designed to smooth inputs and maintain stable path tracking,even when satura-tion occurs.Finally,to overcome onboard energy limitations,a periodic event-triggered mechanism based on relative threshold is proposed.This mechanism adjusts control signal update frequency based on system states,minimizing unnecessary actuator activity and energy consumption.[Results]The stability of the system is proven to be fixed-time stable using Lyapunov's fixed-time stability theory,which also eliminates Zeno behav-ior(infinite triggering in finite time)that could otherwise cause instability.SimuNPS simulation results demonstrate that the tracking error converges within a fixed time,verifying the effectiveness of the proposed method.Compared to existing methods,the proposed strategy exhibits faster transient response,smaller steady-state errors,and superior robustness in the presence of lumped disturbances.Furthermore,the introduc-tion of the FESO provides accurate real-time disturbance estimation,allowing the controller to compensate for disturbances and maintain precise path tracking.Additionally,the event-triggered mechanism significantly re-duces the number of control signal updates and actuator actions,improving the system's energy efficiency.[Conclusions]The proposed event-triggered fixed-time path tracking control strategy effectively addresses the challenges of lumped disturbances,input saturation,and limited onboard energy in underactuated USVs.By integrating event-triggered mechanisms,innovative guidance laws,and robust disturbance compensation,the strategy provides a reliable solution for path tracking in complex and uncertain environments.The fixed-time convergence property ensures that the USV achieves desired performance within a fixed time,making the strategy suitable for real-time applications requiring stability,precision,and energy efficiency.This method of-fers a robust,efficient,and reliable solution for USV path tracking control under difficult operational condi-tions.关键词
无人艇/路径跟踪/事件触发/固定时间控制/扰动观测/输入饱和/扩张状态观测器/SimuNPSKey words
unmanned surface vehicles/path tracking/event-triggering/fixed-time control/disturbance observation/input saturation/extended state observer/SimuNPS分类
交通工程引用本文复制引用
王静,宋保健,慕东东..基于事件触发与创新制导的欠驱动无人艇固定时间路径跟踪[J].中国舰船研究,2026,21(2):367-379,13.基金项目
辽宁省重点发展指导计划(2019JH8/10100100) （2019JH8/10100100）
大连市软科学研究计划(2019J11CY014) （2019J11CY014）
辽宁省博士科研启动基金资助项目(2022-BS-094) （2022-BS-094）
中国博士后基金资助项目(2022M710569) （2022M710569）
大连海事大学研究生教育教学改革资助项目(YJG2022713) （YJG2022713）
