基于自抗扰水面无人艇路径跟踪导航与控制方法研究  

Research on path tracking navigation and control method for unmanned surface vehicle based on active disturbance rejection

作　　者：赵源 戴晓强[1] 王莹 曾庆军[1] 李昂 李维 Zhao Yuan;Dai Xiaoqiang;Wang Ying;Zeng Qingjun;Li Ang;Li Wei(School of Automation,Jiangsu University of Science and Technology,Zhenjiang 212100,China;School of Computing Science,Jiangsu University of Science and Technology,Zhenjiang 212100,China)

机构地区：[1]江苏科技大学自动化学院,镇江212100 [2]江苏科技大学计算机学院,镇江212100

出　　处：《战术导弹技术》2023年第4期95-102,118,共9页Tactical Missile Technology

基　　金：江苏省科技项目(BE2018103)。

摘　　要：针对欠驱动无人艇在路径跟踪过程中海流的时变干扰、传感器噪声污染及控制器参数不易整定等问题,设计路径跟踪控制器。引入视线法获取艏向角,作为控制器的控制目标,并利用卡尔曼滤波器对数据融合处理;改进扩张状态观测器的非线性函数为自适应galn函数,抑制噪声,提高观测精度;利用灰狼优化算法优化目标函数,获取最优控制器参数,提升了控制效率;通过仿真和湖泊试验,验证了所设计控制器能够实现对无人艇的高效控制,路径跟踪精度整体提升。Aiming to solve the problems of time-varying interference of ocean current,sensor noise pollution and controller parameters difficult to be set during the path tracking of underdriven unmanned surface vehicle,a path tracking controller is designed.The line-of-sight method is introduced to obtain the heading angle as the control target of the controller,and the Kalman filter is used for fusing the data.The nonlinear function of the extended state observer is improved and regarded as an adaptive galn function,which can suppress the noise and improve the observation accuracy.The grey wolf optimization algorithm is used for optimizing the objective function,obtaining the optimal controller parameters and improving the control efficiency.Through simulation and lake tests,it is verified that the designed controller can achieve the efficient control of unmanned vehicle,and improve the tracking accuracy of the overall path.

关 键 词：欠驱动 路径跟踪 自适应galn函数 自抗扰控制 灰狼优化 目标函数 视线法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]