基于自抗扰控制的水面无人艇路径跟踪控制器

针对欠驱动水面无人艇非线性系统,设计了一种参数在线优化的路径跟踪自抗扰控制器。对包含不确定动态的水面无人艇数学模型和参数化路径引导方法做了简要的说明,并引入一种基于混沌局部搜索策略的双种群遗传算法,对自抗扰控制器的参数进行在线优化。通过不同条件下的仿真试验结果说明,本研究设计的路径跟踪控制器对海洋环境的不确定动态、未知扰动以及模型的参数摄动具备良好的稳定性和鲁棒性。

Path following controller for unmanned surface vessels based on ADRC

A path following active disturbance rejection controller with parameters online optimization was presented for underactuated USV nonlinear system. USV mathematical model with uncertain dynamics and parameterized path navigation method was described briefly. A novel method based on dual population genetic algorithm with chaotic local search strategy was introduced to online optimize the ADRC parameters. Simulation results under different conditions were presented to show numerically that the path following controller worked as expected even though there existed uncertain dynamics, unknown disturbance and parameter perturbation in the marine environment.