Song Simeng, Liu Zhilin, Yuan Shouzheng, Wang Zhongxin, Wang Ting
College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150006, China; Key Laboratory of Intelligent Technology and Application of Marine Equipment (Harbin Engineering University), Ministry of Education, Harbin 150006, China.
College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150006, China; Key Laboratory of Intelligent Technology and Application of Marine Equipment (Harbin Engineering University), Ministry of Education, Harbin 150006, China.
ISA Trans. 2024 Mar;146:61-74. doi: 10.1016/j.isatra.2024.01.016. Epub 2024 Jan 20.
The path-following problem of unmanned surface vessels (USVs) is solved in this paper, considering unknown interference, energy-saving strategy, input constraints, and input rate of change constraints. Firstly, the USV model considering lumped interference is given, while an interference observer based on finite-time theory is used for interference estimation where the convergence time is specified. Then, to accelerate the USV convergence to a given path, a novel improved adaptive finite-time line-of-sight (IAFTLOS) scheme is developed. The proposed IAFTLOS scheme makes the cross-path error with finite-time convergence. At the same time, an adaptive time-varying looking distance law is designed to improve the convergence performance further. Next, nonlinear model predictive control is introduced to deal with rates of change and input constraints. In addition, an energy-saving strategy is incorporated into the design of the controller. Finally, stable control of the whole cascade system is achieved, and comparative simulation cases verify the feasibility and robustness of the entire system.
本文解决了无人水面舰艇（USV）的路径跟踪问题，考虑了未知干扰、节能策略、输入约束和输入变化率约束。首先，给出了考虑集总干扰的USV模型，同时使用基于有限时间理论的干扰观测器进行干扰估计，并指定了收敛时间。然后，为了加速USV收敛到给定路径，开发了一种新颖的改进自适应有限时间视线（IAFTLOS）方案。所提出的IAFTLOS方案使交叉路径误差具有有限时间收敛性。同时，设计了一种自适应时变前瞻距离律以进一步提高收敛性能。接下来，引入非线性模型预测控制来处理变化率和输入约束。此外，将节能策略纳入控制器设计中。最后，实现了整个级联系统的稳定控制，比较仿真案例验证了整个系统的可行性和鲁棒性。
