In this paper, a saturated trajectory tracking controller is proposed for high-speed surface vessels whose actuator dynamics is not negligible in practice. The hyperbolic tangent function is used as a stabilizer term to design a tracking controller via the dynamic surface control approach to improve the controller performance for all subsystems in the presence of input saturation, unmodeled dynamics, external disturbances and actuator nonlinearity. To this end, adaptive neural networks and adaptive robust controllers are combined to develop a novel saturated dynamic surface controller. Moreover, the proposed controller also compensates the effects of unknown system dynamics, actuator nonlinearity, external kinematic, dynamic and actuator disturbances simultaneously. By using Lyapunov’s stability method, it is shown that all signals of the closed-loop system are uniformly ultimately bounded and simulations are performed to verify the efficacy of the proposed control scheme.

本文针对高速水面舰艇提出了一种饱和轨迹跟踪控制器，该装置的执行器动力学特性在实际中是可以忽略不计的。双曲正切函数用作稳定器项，通过动态表面控制方法来设计跟踪控制器，以在存在输入饱和，未建模动力学，外部干扰和执行器非线性的情况下改善所有子系统的控制器性能。为此，将自适应神经网络和自适应鲁棒控制器相结合，以开发出一种新型的饱和动态表面控制器。此外，所提出的控制器还可以同时补偿未知系统动力学，执行器非线性，外部运动学，动态和执行器干扰的影响。通过使用李雅普诺夫的稳定性方法，