The Study On Composite Adaptive Control Of Unmanned Surface Vessels

With the development of marine engineering and information technology, the potential applications of unmanned surface vessel(USV) in maritime reconnaissance and surveillance, anti-mine warfare, anti-ship, sea rescue, environmental monitoring and so on become increasingly apparent. More and more attention has been paid on the trajectory tracking control of surface craft. When USV sailing on the water surface,the dynamic changes of speed, the center of gravity and the disturbance of wind,wave and current increases the uncertainties of the surface vessel’s model, which will further influence the robust stability of control system. For this reason, In this paper,It is valuable for improving closed control loop system robust uncertainty of the surface vessel to establish adaptive trajectory tracking control based on the euler-lagrange system model with uncertainEstablishing the adaptive control of the surface craft are mainly based on the neural network and the disturbance observer in recently achievements. However, The adaptive neural network control is mainly based on the adjustment of tracking error,the adaptive disturbance observer control is based on the adjustment of modeling error,which affects the tracking accuracy and the speed of closed loop control system. In this paper, based on the eular-lagrange model of USV, three kinds of adaptive control methods are constructively proposed by using joint adjustment of the tracking error and modeling error.(1) trajectory tracking control of USV based on composite adaptive extended state observer(2) trajectory tracking control of USV based on composite adaptive disturbance observer(3) composite adaptive neural network trajectory tracking control. Among them, in the first two kinds of controllers,respectively set up composite adaptive extended state observer, the composite disturbance observer to estimate and compensate the time-varying disturbance which is derivative bounded. In third kind of composite adaptive control, the compositenonlinear adaptive neural network estimate and compensate the nonlinear uncertainties including the centripetal force/Coriolis force item, damping force and slow varying disturbances.In this paper,by theoretical analysis and simulation results, the feasibility and effectiveness of the proposed control algorithm are illustrated, Compared with the traditional adaptive control of USV, the composite adaptive control which is proposed in this paper can effectively improve the accuracy and speed of the trajectory tracking,and it has important theoretical significance and practical value.