基于改进视线法的无人艇路径跟随抗扰控制  

Disturbance Rejection Control of Unmanned Surface Vessel Path Following Based on Improved Line of Sight Method

作　　者：邓中杰[1] 茅云生[1] 董早鹏 肖智俊 DENG Zhong-jie;MAO Yun-sheng;DONG Zao-peng;XIAO Zhi-jun(School of Naval Architecture,Ocean and Energy Power Engineering,Wuhan University of Technology,Wuhan 430063,China)

机构地区：[1]武汉理工大学船海与能源动力工程学院,武汉430063

出　　处：《船海工程》2025年第1期41-47,共7页Ship & Ocean Engineering

基　　金：国家自然科学基金(51709214)。

摘　　要：针对无人艇执行路径跟随任务时,传统视线法未考虑航速控制且无法有效处理外界干扰的不足,结合反步法、李亚普诺夫稳定性理论及Barbalat引理,对传统视线法进行改进。改进路径跟随方式,通过设计纵向推力和转艏力矩的控制律分别控制航速和航向,优化传统视线法忽略纵向速度控制的问题;设计非线性干扰观测器预测外界干扰观测值,将观测值引入视线法在控制器中进行补偿,实现无人艇路径跟随抗扰控制;通过仿真试验验证了所提出方法和所设计控制器的有效性和可靠性。Aiming to solve the path following problem of unmanned surface vessel(USV)by traditional line-of-sight(LOS)method,which ignoring longitudinal velocity and unable to deal effectively with external distraction,the LOS method was improved by combining the BackStepping,Lyapunov stability theory and Barbalat Lemma.Firstly,the control law of longitudinal thrust and yaw moment was designed to control the speed and heading respectively to improve the path following pattern,which optimizes the problem of longitudinal speed ignored by traditional LOS.The nonlinear disturbance observer was designed to predict the observation value of external disturbance.The observation value was introduced into the LOS method to compensate the controller,to realize the path following disturbance rejection control of USV.Lastly,the simulation results showed the effectiveness and reliability of the proposed approach and designed controller.

关 键 词：水面无人艇 路径跟随 视线法 反步法 非线性干扰观测器 

分 类 号：U675.79[交通运输工程—船舶及航道工程]