基于有限时间扰动观测器的无人水面艇精确航迹跟踪控制  

Finite-time disturbance observer based accurate trajectory tracking control of an unmanned surface vehicle

作　　者：王宁 吕帅林 WANG Ning;LV Shuai-lin(School of Marine Electrical Engineering,Dalian Maritime University,Dalian 116026,China)

机构地区：[1]大连海事大学船舶电气工程学院

出　　处：《控制与决策》2019年第11期2491-2497,共7页Control and Decision

基　　金：国家自然科学基金项目(51009017,51379002);中央高校基本科研业务费专项基金项目(3132014206,3132018126);辽宁省高校创新人才支持计划项目(LR2017024);辽宁省高校优秀人才支持计划项目(LJQ2013055);大连市杰出青年科技人才支持计划项目(2016RJ10);大连市青年科技之星支持计划项目(2015R065);水下机器人技术重点实验室稳定支持课题项目(SXJQR2018WDKT03)

摘　　要：针对复杂航行环境下的无人水面艇系统,提出一种基于有限时间扰动观测器的无人水面艇精确航迹跟踪控制策略.该控制方法具有以下显著特点:能够精确补偿未知海洋干扰,可实现精确跟踪控制;相比传统的渐近收敛控制算法,有限时间稳定性确保跟踪控制系统具有更快的收敛速度和更强的扰动抑制能力;能够同时确保扰动观测误差和航迹跟踪误差在有限时间内精确收敛到零.仿真结果验证了所提出控制方法的有效性和优越性.A finite-time disturbance observer based accurate trajectory tracking control(FDO-ATTC)scheme for an unmanned surface vehicle(USV)in the presence of complex external disturbances is proposed.The salient features are as follows:1)By virtue of the FDO-ATTC law,unknown disturbances induced by complex marine environments can be exactly compensated within a short time and thereby leading to high-accuracy tracking performance;2)In comparison with asymptotic approaches,the proposed finite-time stability of the entire closed-loop system achieves faster convergence and stronger rejection to disturbances,simultaneously;3)Both disturbance observation and trajectory tracking errors can be rendered to zero in a finite time.Simulation results demonstrate the effectiveness and superiority of the proposed FDO-ATTC scheme.

关 键 词：有限时间控制 精确航迹跟踪 有限时间扰动观测器 无人水面艇 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]