文献类型：期刊文献

英文题名：Robust trajectory tracking control of marine surface vessels with uncertain disturbances and input saturations

作者：Liu, Haitao[1,2];Chen, Guangjun[1]

机构：[1]Guangdong Ocean Univ, Sch Mech & Power Engn, Zhanjiang 524088, Peoples R China;[2]Southern Marine Sci & Engn Guangdong Lab Zhanjian, Zhanjiang 524000, Peoples R China

年份：2020

卷号：100

期号：4

起止页码：3513

外文期刊名：NONLINEAR DYNAMICS

收录：SCI-EXPANDED(收录号：WOS:000534975300001)、、EI(收录号：20202208742222)、Scopus(收录号：2-s2.0-85085291901)、WOS

基金：This work was supported by the 2019 "Chong First-class'' Provincial Financial Special Funds Construction Project [Grant No. 231419019], the Natural Science Foundation of Guangdong Province in China [Grant No. 2018A0303130076], the Fostering Plan for Major Scientific Research Projects of Education Department of Guangdong Province-Characteristic Innovation Projects (Grant No. 2017KTSCX087) and the Fund of Southern Marine Science and Engineering Guangdong Laboratory (Zhanjiang) (Grant No. ZJW-2019-01).

语种：英文

外文关键词：Marine surface vessels; Disturbance observer; Input saturation; Auxiliary system; Robust trajectory tracking

外文摘要：In this paper, a novel robust trajectory tracking control law is proposed for marine surface vessels with uncertain disturbances and input saturations using a tan-type barrier Lyapunov function and a backstepping technique. The low-frequency disturbances in kinetics from wind and waves are estimated by a nonlinear finite-time disturbance observer (FTDO). An adaptive estimation law is employed to estimate the unknown time-varying current velocities. A Gaussian error function-based continuous differentiable asymmetric saturation model is employed to handle the effect of nonsmooth asymmetric saturation nonlinearity using a backstepping technique, and auxiliary dynamic systems are used to compensate for the input saturation constraints on the actuators. Lyapunov stability analysis proves that all the signals of the closed-loop systems are guaranteed to be semi-globally uniformly ultimately bounded, and the tracking errors can converge to a small neighborhood of the origin by appropriately selecting the control parameters. Simulations and comparison results are presented to verify the effectiveness of the proposed method.