Trajectory tracking control of unmanned surface vessels with input saturation and full-state constraints

International Journal of Advanced Robotic Systems

HongdeQin¹ 

关键词: Unmanned surface vessel;    barrier Lyapunov function;    adaptive control;    input saturation;    full-state constraints;   

DOI  :  10.1177/1729881418808113

学科分类：自动化工程

来源: InTech

【 摘 要 】

This article investigates the trajectory tracking control problem for unmanned surface vessels with input saturation and full-state constraints. The barrier Lyapunov function is used to solve the problem of state constraints, and the adaptive method is employed to handle the unknown random disturbances and saturation problems. The proposed control approach can guarantee that the control law and signals of closed-loop system are uniformly bounded and achieve the asymptotic tracking. Finally, simulation studies are provided to show the effectiveness of the proposed method.

【 授权许可】

CC BY