In this paper, we investigate the trajectory tracking control problem of surface ships subject to unknown parameters, unknown time-varying disturbances, and input saturation. The input saturation is approximated using a Gaussian error function. The compounded uncertain term caused by the unknown parameters and disturbances is transformed into a linear parametric form with a single parameter called virtual parameter. Then, a novel robust adaptive ship trajectory tracking control law is designed using the adaptive vector-backstepping design method, where the adaptive law online provides the estimation of the virtual parameter. Further, a finite-time control scheme is developed injecting a power function vector of the position and velocity errors into the proposed control scheme such that the control performance is improved. Both our control schemes are simple to compute and easy to implement in engineering applications. Theoretical analysis indicates that the designed control laws can force the surface ship to track the desired trajectory while guaranteeing the global uniform ultimate boundedness of all the signals in the closed-loop trajectory tracking control system of surface ships. Simulation results and comparison verify the effectiveness of our novel robust adaptive trajectory tracking control schemes.

中文翻译：

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输入饱和下水面舰船全局鲁棒自适应轨迹跟踪控制

在本文中，我们研究了受未知参数、未知时变干扰和输入饱和影响的水面舰艇的轨迹跟踪控制问题。使用高斯误差函数近似输入饱和度。由未知参数和扰动引起的复合不确定项转化为具有单个参数的线性参数形式，称为虚拟参数。然后，使用自适应向量反步设计方法设计了一种新颖的鲁棒自适应船舶轨迹跟踪控制律，其中自适应律在线提供虚拟参数的估计。此外，开发了一种有限时间控制方案，将位置和速度误差的幂函数向量注入到所提出的控制方案中，从而提高了控制性能。我们的两种控制方案都易于计算且易于在工程应用中实现。理论分析表明，所设计的控制律可以在保证水面舰艇轨迹跟踪控制系统中所有信号全局一致的极限有界的同时，强制水面舰艇跟踪期望的轨迹。仿真结果和比较验证了我们新颖的鲁棒自适应轨迹跟踪控制方案的有效性。