In this paper, a novel robust adaptive control scheme is developed for the trajectory tracking of surface vessels in the presence of dynamic uncertainties, unknown time-varying disturbances and input and output constraints. Firstly, the output constraint problem is transformed into the constraint problem of trajectory tracking error by coordinate transformations. Then, a nonlinear transformation is introduced to transform the tracking error into the transformed variable, with the aid of which the output constraint problem of surface vessel trajectory tracking is transformed into the boundedness problem of transformed variable, such that the various types of output constraint boundaries including constant, time-varying, symmetry and asymmetry ones can be handled in a unified framework. An auxiliary dynamic system (ADS) is applied to handle the input saturation effect. Incorporating the nonlinear transformation, the radial basis function neural networks and the ADS into dynamic surface control technique, a novel robust adaptive neural trajectory tracking control law is designed. It is theoretically proved that all signals in the closed-loop trajectory tracking control system of surface vessels are locally uniformly ultimately bounded and the actual positions and heading of surface vessels are guaranteed to lie in the constrained region. Simulation results on a scale model vessel illustrate the effectiveness of the proposed control scheme.

在本文中，针对存在动态不确定性，未知时变扰动以及输入和输出约束的水面舰艇的轨迹跟踪，开发了一种新颖的鲁棒自适应控制方案。首先，通过坐标变换将输出约束问题转化为轨迹跟踪误差的约束问题。然后，引入非线性变换，将跟踪误差转化为变换变量，借助该变换，将水面船只轨迹跟踪的输出约束问题转化为变换变量的有界性问题，从而得到各种类型的输出约束边界包括常数，时变，对称和不对称在内的所有变量都可以在一个统一的框架中进行处理。辅助动态系统（ADS）用于处理输入饱和效果。将非线性变换，径向基函数神经网络和ADS结合到动态表面控制技术中，设计了一种新颖的鲁棒自适应神经轨迹跟踪控制律。从理论上证明，在水面舰船的闭环轨迹跟踪控制系统中，所有信号最终局部均匀地限定边界，并保证水面舰船的实际位置和航向在受约束的区域内。在比例模型船上的仿真结果说明了所提出的控制方案的有效性。设计了一种新颖的鲁棒自适应神经轨迹跟踪控制律。从理论上证明，在水面舰船的闭环轨迹跟踪控制系统中，所有信号最终局部均匀地限定边界，并保证水面舰船的实际位置和航向在受约束的区域内。在比例模型船上的仿真结果说明了所提出的控制方案的有效性。设计了一种新颖的鲁棒自适应神经轨迹跟踪控制律。从理论上证明，在水面舰船的闭环轨迹跟踪控制系统中，所有信号最终局部均匀地限定边界，并保证水面舰船的实际位置和航向在受约束的区域内。在比例模型船上的仿真结果说明了所提出的控制方案的有效性。