无人艇轨迹跟踪的预设性能抗扰控制研究

针对海洋环境干扰下的无人艇轨迹跟踪问题，提出一种预设性能轨迹跟踪抗扰控制方法。首先，该方法通过引入具有约束作用的性能函数设计预设性能反演控制器。同时采用干扰观测器精确补偿外界未知扰动，并引入带σ修正漏项自适应律对海洋环境干扰的界进行估计，实现了无人艇轨迹跟踪抗扰控制，且同时保证其暂态性能和稳态性能。然后根据李雅普诺夫稳...

Research on Prescribed Performance Disturbance Rejection Control of Unmanned Surface Vessels Trajectory Tracking

Aiming to solve the trajectory-tracking problem of unmanned surface vessels in complex environments， a prescribed performance trajectory-tracking control method with disturbance rejection is proposed. Firstly， a performance function with constraints is introduced to design a prescribed performance backstepping controller. The disturbance observer is used to initialize the model by accurately compensating for the unknown disturbance. The adaptive laws based on leakage terms of σ-modification are used to estimate bounds of disturbance observer errors. The trajectory-tracking and disturbance-rejection control are realized. The transient and steady-state performances are also guaranteed simultaneously. Then based on the Lyapunov stability theory， all states in the closed-loop system are uniformly and ultimately bounded， and the tracking errors converged to the prescribed area. Finally， the effectiveness of the algorithm is verified by simulation experiments.