聊城大学学报（自然科学版）2026，Vol.39Issue(3)：328-335,8.DOI:10.19728/j.issn1672-6634.2025070009
随机环境载荷下的无人艇轨迹跟踪控制
Trajectory tracking control of unmanned surface vehicles under stochastic environmental loads
摘要
Abstract
The trajectory tracking control problem of unmanned surface vehicles(USVs)with unknown stochastic environmental disturbances was studied.Firstly,based on the theory of stochastic differential e-quations,a system dynamic model incorporating stochastic disturbance terms is established to accurately characterize the influence of environmental disturbances on the USVs motion trajectory.Secondly,a ro-bust trajectory tracking controller is designed based on the backstepping control method.The designed controller can ensure that the actual trajectory of the USVs asymptotically tracks any given reference traj-ectory with the desired precision.Then,it is rigorously proven that all signals in the closed-loop system satisfy global uniform ultimate boundedness.Finally,numerical simulations are conducted to verify the ef-fectiveness and robustness of the trajectory tracking controller.关键词
随机控制/轨迹跟踪控制/反步法/无人艇Key words
stochastic control/trajectory tracking control/backstepping/unmanned surface vehicles分类
生物科学引用本文复制引用
丛如悦,刘迎,李武全..随机环境载荷下的无人艇轨迹跟踪控制[J].聊城大学学报（自然科学版）,2026,39(3):328-335,8.基金项目
国家自然科学基金项目(62373179) （62373179）
山东省泰山学者项目(tstp20221133) （tstp20221133）
山东省烟台市科技创新发展计划基础研究项目(2023JCYJ051) （2023JCYJ051）
烟台市省级以上领军人才专项支持资金资助 （）
