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Robust trajectory tracking control of underactuated unmanned surface vehicles with exponential stability: theory and experimental validation
Industrial Robot ( IF 1.8 ) Pub Date : 2021-11-25 , DOI: 10.1108/ir-07-2021-0162
Rui Yu 1 , Hua Zhou 1
Affiliation  

Purpose

Trajectory tracking is an important issue to underactuated unmanned surface vehicles (USVs). However, parametric uncertainties and environmental disturbances bring great challenges to the precise trajectory tracking control of USVs. This paper aims to propose a robust trajectory tracking control algorithm with exponential stability for underactuated USVs with parametric uncertainties and unknown environmental disturbances.

Design/methodology/approach

In this method, the backstepping method and sliding mode control method are combined to ensure that the underactuated USV can track and maintain the desired trajectory. In addition, a modified switching-gain adaptation algorithm is adopted to enhance the robustness and reduce chattering. Besides, the global exponential stability of the closed-loop system is proved by Lyapunov’s direct method.

Findings

The proposed method in this paper offers a robust trajectory tracking solution to underactuated USVs and it is verified by simulations and experiments. Compared with the traditional proportion-integral-derivative method and several state-of-the-art algorithms, the proposed method has superior performance in simulation and experimental results.

Originality/value

This paper proposes a robust trajectory tracking control algorithm with exponential stability for underactuated USVs. The proposed method achieves exponential stability with better robustness and transient performance.



中文翻译:

具有指数稳定性的欠驱动无人水面车辆的鲁棒轨迹跟踪控制:理论与实验验证

目的

轨迹跟踪是欠驱动无人水面车辆(USV)的一个重要问题。然而,参数不确定性和环境干扰给无人艇的精确轨迹跟踪控制带来了巨大挑战。本文旨在针对具有参数不确定性和未知环境扰动的欠驱动无人艇提出一种具有指数稳定性的鲁棒轨迹跟踪控制算法。

设计/方法/方法

该方法将反推法和滑模控制法相结合,保证欠驱动USV能够跟踪并保持期望的轨迹。此外,采用改进的开关增益自适应算法来增强鲁棒性并减少抖动。此外,闭环系统的全局指数稳定性由李雅普诺夫直接法证明。

发现

本文提出的方法为欠驱动的无人艇提供了一种稳健的轨迹跟踪解决方案,并通过仿真和实验进行了验证。与传统的比例积分微分方法和几种最先进的算法相比,该方法在仿真和实验结果上具有优越的性能。

原创性/价值

本文针对欠驱动无人艇提出了一种具有指数稳定性的鲁棒轨迹跟踪控制算法。所提出的方法实现了指数稳定性,具有更好的鲁棒性和瞬态性能。

更新日期:2021-11-25
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