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

Hongde Qin | Zendy; ChengPeng Li | Zendy; Yanchao Sun | Zendy; Zhongchao Deng | Zendy; Yuhan Liu | Zendy

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

Author(s) -

Hongde Qin,

ChengPeng Li,

Yanchao Sun,

Zhongchao Deng,

Yuhan Liu

Publication year - 2018

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.1177/1729881418808113

Subject(s) - control theory (sociology) , unmanned surface vehicle , computer science , bounded function , trajectory , tracking (education) , lyapunov function , saturation (graph theory) , state (computer science) , surface (topology) , adaptive control , control (management) , mathematics , algorithm , nonlinear system , artificial intelligence , engineering , psychology , mathematical analysis , pedagogy , physics , geometry , astronomy , quantum mechanics , combinatorics , marine engineering

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.

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