为实现三自由度欠驱动水面无人船在未知外界扰动下的轨迹跟踪，本文设计一种带扰动观测器的反步法轨迹跟踪控制器。首先，构造扰动观测器估计未知扰动，对纵荡以及首摇2个自由度方向上的控制量进行前馈补偿。然后，为增强系统抗扰动能力并加快误差收敛速度，将水面无人船位置误差的积分项引入控制系统，分别在运动学和动力学回路中构造虚拟控制律镇定跟踪误差，过程中结合神经动态模型技术，解决了传统反步法的微分爆炸问题，同时有效避免了控制过程中的控制不连续问题。最后，仿真实验验证了所设计控制器的有效性。
This paper studies the trajectory tracking problem of a 3 degree-of-freedom underactuated unmanned surface vehicle under unknown external disturbance, and a backstepping trajectory tracking controller incorporating a disturbance observer is proposed. Firstly, the disturbance observer is constructed to estimate the unknown disturbance, and feedforward compensation is made for the control variables in the corresponding directions. Then, in order to enhance the anti-disturbance ability of the system and accelerate the error convergence, the integral term of position error is introduced into the control system, and virtual controls are constructed in kinematics and dynamics circuits to stabilize the tracking error. In addition, the neural dynamic model technology is used to solve the problem of differential explosion, and the problem of control discontinuity in the process is effectively avoided. Finally, numerical simulation results are given to verify the practical feasibility of the proposed controller design.
2019,41(12): 127-132,139 收稿日期：2019-07-04
DOI：10.3404/j.issn.1672-7649.2019.12.026
分类号：U664;TP273
基金项目：国家自然科学基金资助项目（61873335，61833011）；上海市东方学者特聘教授资助项目、江苏省青蓝工程中青年学术带头人资助项目、江苏省自然科学基金（BK20161361）等
作者简介：张凯(1993-),男,硕士研究生,主要研究船舶运动控制
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