Backstepping Method Based Trajectory Tracking And Formatior Control Of MSV

No wadays,with the trend of economic globalization,people pay more and more attention to maritime transportation.Countries all over the world have increased their research on marine equipment,and tried hard to take the lead in military,shipping and scientific exploration.Marine surface vessel(MSV)is the basic vehicle of marine transportation,which has a high application value for its research.This thesis introduces the background of some control problems about MS V,and studies the related problems of MSV trajectory tracking,the main contents are as follows:1.the control of the MSV based on dynamic surface under input constraints.The dynamic surface control technology is used to achieve the tracking control of MSV.The traditional dynamic surface control method is further considered with the filtering error that influences the control performance of the system due to the introduction of the first order filter,the filtering error compensation signal is used to avoid the influence of filtering error on the system.And the actuator of MSV is limited by the physical properties,the control input of the system is bounded.An adaptive radial basis function neural network(RBFNN)is applied to design the trajectory tracking controller through dynamic surface technique.Based on the proposed method,the MSV can track the trajectory under saturation actuators.2.Backstepping control based on the finite time disturbance observer of MSV trajectory tracking filter.In order to solve the problem that the control performance of MSV is affected by the disturbance of the external environment,the backstepping control method with the finite time disturbance observer is proposed.The finite time observer is used to estimate disturbance of the external environment accurately,and the control law is designed with the instruction filter control method.The second order command filter is used to obtain more accurate derivative of the virtual control vector.The proposed method improves the control performance of the system and achieves the trajectory tracking control of MSV under disturbance of the external environment.3.Leader-follower method based formation control of MSV.In order to solve the formation control problem of MSV under disturbances of the external environment,a leader-follower formation control strategy is proposed.First,the finite time observer is proposed to estimate external disturbances,and the auxiliary system is designed to overcome the influence of saturation actuators.Based on these methods,command filter method is developed for formation control of MSV with disturbances and saturation actuators.The formation control of MSV can be achieved by the proposed controller.Finally,the stability of the closed-loop system is proved by Lyapunov stability theory,and the MATLAB is used to simulate the experiments,which proves that the proposed control law is reasonable and effective,MSV has good robust performance and achieves the control purpose.