In the presence of unknown environmental disturbances, this paper develops a robust adaptive synchronization navigation control design with prescribed performance for the supply ship during underway replenishment using the adaptive technique, the prescribed performance control (PPC) technique and the command-filtered backstepping approach. The adaptive law is derived to estimate the bounds of unknown environmental disturbances, the PPC technique is introduced to guarantee the prescribed transient and steady-state performance of synchronization control and the command filter is employed to avoid the direct analytic derivation of the virtual stabilizing function in the conventional backstepping design. The theoretical analysis proves that the designed control law can realize the synchronization navigation between the supply and the main ships with prescribed performance, while guaranteeing the uniform ultimate boundedness of all signals in the synchronization closed-loop control system of the supply ship. Simulation results on a supply ship demonstrate the effectiveness of the designed synchronization navigation control law and the robustness to unknown environmental disturbances.

在存在未知环境干扰的情况下，本文采用自适应技术，规定性能控制（PPC）技术和命令过滤后推方法，开发了一种健壮的自适应同步导航控制设计，其在补给过程中具有给定性能的补给船。推导了自适应律以估计未知环境干扰的范围，引入了PPC技术以保证规定的同步控制的瞬态和稳态性能，并且使用命令滤波器来避免直接解析推导虚拟稳定函数。传统的后推设计。理论分析证明，所设计的控制律能在规定的性能下实现供需与主船之间的同步导航，同时保证了供船同步闭环控制系统中所有信号的统一极限范围。在补给船上的仿真结果证明了所设计的同步导航控制律的有效性以及对未知环境干扰的鲁棒性。