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首页> 外文期刊>Transactions of the Institute of Measurement and Control >An enhanced backstepping approach for motion control of underactuated autonomous surface vessels with input constraints
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An enhanced backstepping approach for motion control of underactuated autonomous surface vessels with input constraints

机译：一种增强的反向缓冲控制与输入约束的自主面血管运动控制

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摘要

This paper focuses on the motion control of an underactuated autonomous surface vessel (UASV). A robust adaptive approach is proposed to control the UASV in spite of existence of uncertainties in the dynamic model and the external disturbances by integrating the backstepping method with input constraints, functional approximate technique (FAT) and projection operator. In the proposed controller, it is not required to compute the complex functions and their derivatives appearing in the traditional backstepping methods. The motion control strategy of the UASV is first derived based on the backstepping method. Then, the complex functions, appearing in the controller, are estimated by the FAT and Lyapunov based adaptive laws. This causes the inherent complexity of the backstepping technique, numerical derivatives of virtual inputs, is to be overcome. Moreover, the input limitations are considered by an auxiliary system. Stability analysis of system is performed by Lyapunov’s direct method. Several numerical simulations are carried out to confirm the effectiveness of the proposed method.
机译：本文重点介绍了废后自动表面容器（UASV）的运动控制。提出了一种稳健的自适应方法，以控制UASV，尽管通过与输入约束的反向梗地方法集成了动态模型和外部干扰，但功能近似技术（FAT）和投影算子来控制UASV。在所提出的控制器中，不需要计算传统的BackStepping方法中出现的复杂功能及其衍生物。基于BackStepping方法首先派生UASV的运动控制策略。然后，在控制器中出现的复杂功能由基于FAT和Lyapunov的自适应法则估算。这导致备份技术的固有复杂性，要​​克服虚拟输入的数值衍生物。此外，辅助系统考虑输入限制。系统的稳定性分析由Lyapunov的直接方法进行。进行了几个数值模拟以确认所提出的方法的有效性。

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