A nonlinear disturbance observer based on robust approach to the trajectory tracking of an unmanned surface vehicle

被引：0

作者：

Zhu Q.-D. ^{[1
]}

Ma J.-D. ^{[1
]}

Liu K. ^{[1
]}

机构：

[1] College of Automation, Harbin Engineering University, Harbin

来源：

Dianji yu Kongzhi Xuebao/Electric Machines and Control | 2016年 / 20卷 / 12期

关键词：

Dynamic surface control; Nonlinear disturbance observer; Robust control; Trajectory tracking; Unmanned surface vehicle;

D O I：

10.15938/j.emc.2016.12.009

中图分类号：

学科分类号：

摘要：

A robust controller based on nonlinear disturbance observer(NDO) and dynamic surface control(DSC) for 3 degrees of freedom unmanned surface vehicle(USV) under the presence of ocean environmental disturbances is presented. Firstly, a NDO was constructed to estimate and compensate for the environmental disturbances online. Unlike conventional disturbance observers, the proposed NDO had the characteristics of finite time convergence. In the kinetic loop, a virtual control was designed to stabilize the tracking error by back-stepping technique. A first order filter was introduced to avoid the complexity of computation caused by the derivation of virtual control. NDO was adopted to compensate for unknown ocean disturbance. The Lyapunov stability theory shows that all the signals of the closed system are semi-global uniformly ultimately bounded(SGUUB). Finally, numerical simulation results are given to verify the practical feasibility of the proposed approach. © 2016, Harbin University of Science and Technology Publication. All right reserved.

引用

页码：65 / 73

页数：8

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