This paper proposed a novel disturbance observer-based control state-error port-controlled Hamiltonian (DOBC-SEPCH) control strategy for optimization of energy consumption and enhancement of tracking performance for unmanned surface vehicle (USV) with unknown environmental disturbances via the PCH system techniques. Firstly, an observer is constructed to estimate disturbances. Then, an energy-based controller is constructed by using the SEPCH system method. In addition, the SEPCH controller provided that the tracking errors converged exponentially to zero. The SEPCH technique is augmented by a disturbance observer. Due to the controller need to be designed in two stages, the stability of the whole system will be difficult to be discussed. We give the proof of the stability of the desired target dynamic system. The robustness and control performance of the system are enhanced. The simulation and comparison results illustrate the performance of this controller.

中文翻译：

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具有扰动不确定性的无人水面车辆鲁棒状态误差端口控制哈密顿轨迹跟踪控制

本文提出了一种新的基于扰动观测器的控制状态误差端口控制哈密顿量 (DOBC-SEPCH) 控制策略，通过 PCH 系统技术优化具有未知环境扰动的无人水面艇 (USV) 的能耗和跟踪性能。 . 首先，构造一个观察器来估计干扰。然后，利用SEPCH系统方法构建了一个基于能量的控制器。此外，SEPCH 控制器提供跟踪误差以指数方式收敛到零。SEPCH 技术由扰动观察器增强。由于控制器需要分两个阶段进行设计，整个系统的稳定性将难以讨论。我们给出了所需目标动态系统稳定性的证明。增强了系统的鲁棒性和控制性能。仿真和比较结果说明了该控制器的性能。