Autonomous Intelligent Control for Path Following of Unmanned Surface Vessels with Input Constraints

摘要：

　　External disturbances and input saturation are considered in this work,presenting a velocity-varying line-of-sight and finite-time disturbance observers based backstepping(VLFDOB)control scheme to realize unmanned surface vessels(USVs)path following control.We explore this scheme of combining velocity-varying line-of-sight(VLOS)guidance laws and finite-time disturbance observers with designing auxiliary dynamic systems in order to produce guidance heading angle and cope with disturbances acting on USVs as well as anti-windup simultaneously.The performance of stability of this scheme is shown with effective and accurate performance through Lyapunov stability theories.Simulating results demonstrate that the proposed scheme enables USVs system to reach desired path following objectives.

关键词： Path following Observers Input saturation Line-of-sight

作者: Yalei Yu Chen Guo Haomiao Yu

作者单位: The School of Navigation,Dalian Maritime University,Dalian 116026,China The School of Marine Electrical Engineering,Dalian Maritime University,Dalian 116026,China

会议类型: 国际会议

会议名称: 2019中国智能自动化大会(CIA,2019)

会议地点: 江苏镇江

会议语种:英文

页码: 208-215

在线出版日期: 2019-09-20（万方平台首次上网日期，不代表论文的发表时间）