基于扩张状态观测器的双桨推进无人艇抗干扰目标跟踪控制

吴文涛; 彭周华; 王丹; 刘陆; 姜继洲; 任帅

doi:10.19693/j.issn.1673-3185.01665

基于扩张状态观测器的双桨推进无人艇抗干扰目标跟踪控制

ESO based anti-disturbance target tracking control for twin-screw unmanned surface vehicle

摘要

摘要:
目的针对无人艇（USV）的模型不确定性和未知海洋环境扰动，提出一种基于扩张状态观测器(ESO)的双桨推进无人艇抗干扰目标跟踪控制算法。
方法在运动学层级，设计基于平行接近制导原理的目标跟踪制导律；在动力学层级，针对模型不确定性和未知环境扰动，设计基于ESO的纵荡速度和艏摇角速度自抗扰控制律，以减小模型不确定性和环境扰动的影响；最后，通过输入状态稳定性定理和级联定理分析所提控制器的稳定性。
结果实验结果表明，基于所提的自抗扰目标跟踪控制方法能使跟踪船有效地跟踪虚拟目标点。
结论研究成果可为无人艇在环境扰动下的目标跟踪提供参考。

Abstract:
Objectives Focusing on the model uncertainties of unmanned surface vehicles (USVs) and unknown marine environmental disturbances, an anti-disturbance target-tracking control algorithm, based on extended state observer (ESO), is proposed for twin-screw unmanned surface vehicles.
Methods At the kinematic level, a guidance law based on the principle of constant bearing is presented for USVs. At the kinetic level, aiming at model uncertainties and unknown disturbances, surge velocity and yaw angular velocity anti-disturbance control laws based on ESOs are designed to eliminate the problems caused by model uncertainties and unknown marine environmental disturbances. Finally, the proposed controllers' stabilities are analyzed via in-put-to-state stability and cascade theory.
Results The results show that such a USV can effectively track the virtual target point using the proposed anti-disturbance target tracking controller.
Conclusions The effectiveness of the proposed control algorithm is verified via experimental results.

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