This article investigates the leader following of underactuated surface vessels that operate in the presence of environmental disturbances, model uncertainties, and actuator saturation. What makes the design of controller challenging is that the sway cannot be directly controlled. Furthermore, the actuator is formulated with magnitude saturation and rate saturation. To express the effect of magnitude saturation and rate saturation, a continuous function is employed to model actuator. An auxiliary dynamic system is used to solve the problem of magnitude saturation and rate saturation. A disturbance observer is designed to provide estimation of the environmental disturbances and model uncertainties, and achieve finite time convergence of estimation error. A control law is designed based on disturbance observer, backstepping technique, and auxiliary dynamic system. The uniform ultimate boundedness of all signals in the closed-loop control system is proved. Simulations demonstrate the performance of the proposed controller.

中文翻译：

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具有致动器幅度和速率限制的欠驱动水面舰艇的先导跟随解决方案

本文研究了在存在环境干扰、模型不确定性和执行器饱和的情况下运行的欠驱动水面船舶的先导跟随。使控制器设计具有挑战性的是无法直接控制摇摆。此外，致动器被公式化为幅度饱和和速率饱和。为了表达幅度饱和和速率饱和的影响，采用连续函数来模拟执行器。使用辅助动力系统解决幅度饱和和速率饱和问题。干扰观测器旨在提供对环境干扰和模型不确定性的估计，并实现估计误差的有限时间收敛。基于扰动观测器、反推技术设计控制律，和辅助动力系统。证明了闭环控制系统中所有信号的统一极限有界性。仿真证明了所提出的控制器的性能。