摘要
[目的]针对具有参数不确定性的无人船系统,提出一种基于数据驱动的无人船轨迹跟踪控制策略。[方法]首先,运用反步法设计无人船运动学子系统的虚拟控制信号,确保系统轨迹跟踪的准确性;其次,通过数据驱动的方法设计无人船动力学子系统的控制器,减轻未知扰动等不确定性因素带来的影响,降低控制器设计的复杂程度。[结果]采用递归原理,通过分析系统伪雅可比矩阵、动力学和运动学跟踪误差收敛,证明了系统的稳定性。[结论]仿真结果表明,所提控制策略可以对无人船期望轨迹进行有效跟踪,验证了控制方案的有效性。
[Objectives]A data-driven trajectory tracking control scheme is proposed for unmanned surface vehicles(USVs)with uncertain parameters.[Methods]First,the USV kinematics subsystem is processed by the backstepping,and we can obtain the virtual control signal of the kinematics subsystem which ensure the accuracy of the system trajectory tracking.Secondly,the data-driven is used to deal with the USV dynamics subsystem to get the controller which reduces the impact of uncertainties such as unknown disturbances and reduce the complexity of controller design.[Results]The stability of the system is proved by analyzing the pseudo Jacobian matrix and the convergence of the tracking error of dynamics and kinematics.[Conclusions]Simulation results show that the control strategy proposed in this paper can track the expected trajectory effectively,and the effectiveness of the control scheme is verified.
作者
王维坤
刘加朋
王保防
赵科淇
于金鹏
WANG Weikun;LIU Jiapeng;WANG Baofang;ZHAO Keqi;YU Jinpeng(School of Automation,Qingdao University,Qingdao 266071,China)
出处
《中国舰船研究》
北大核心
2025年第1期223-231,共9页
Chinese Journal of Ship Research
基金
国家重点研发计划资助项目(2017YFB1303503)
国家自然科学基金资助项目(61973179)
长江学者特聘专项计划资助(T2022265)。
关键词
无人船
轨迹跟踪
反步控制
数据驱动
运动控制
unmanned vehicles
trajectory tracking
backstepping control
data-driven
motion control
