Abstract
This paper presents a dynamic surface adaptive robust control method with disturbance observer for unmanned marine vehicles (UMV). It uses adaptive law to estimate and compensate the disturbance observer error. Dynamic surface is introduced to solve the “differential explosion” caused by the virtual control derivation in traditional backstepping method. The final controlled system is proved to be globally uniformly bounded based on Lyapunov stability theory. Simulation results illustrate the effectiveness of the proposed controller, which can realize the three-dimensional trajectory tracking for UMV with the systematic uncertainty and time-varying disturbances.
Highlights
Unmanned marine vehicle (UMV) has attracted a number of researchers from all over the world
For the high nonlinearity and the characteristic of being easy to be disturbed by external environment, the control of the UMV is challenged especially for trajectory
Due to the nonlinear characteristics of the UMV, the backstepping and Lyapunov theory are combined to solve the problem of trajectory tracking control
Summary
Unmanned marine vehicle (UMV) has attracted a number of researchers from all over the world. For the high nonlinearity and the characteristic of being easy to be disturbed by external environment, the control of the UMV is challenged especially for trajectory. Due to the nonlinear characteristics of the UMV, the backstepping and Lyapunov theory are combined to solve the problem of trajectory tracking control. The method of adaptive backstepping is given to design the trajectory tracking controller in view of the slow disturbance from external environment in [2]. Yang et al [11] give the ship trajectory tracking controller which can resist timevarying environmental disturbance based on disturbance observation, backstepping, and Lyapunov theory. This paper presents a composite dynamic surface adaptive robust control method for UMV with disturbance observer to design the position, attitude, and time-varying velocity controllers. The dynamic surface adaptive robust controller is designed for the UMV with disturbance observer.
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