Research On Trajectory Tracking And Dynamic Positioning Control Of Unmanned Surface Vehicle

As an intelligent surface operation platform,unmanned vehicle have attracted the attention of researchers from all over the world in recent years.Because of their intelligent,unmanned,and low-cost deployment advantages,they will play an increasingly important role in the civil applications and military strategies of marine activities in the future.Trajectory tracking control is the basis for unmanned vehicle to realize autonomous navigation.The performance of controller directly affects the ability of unmanned vehicle to complete autonomous tasks,which has very important scientific research value.The research focus of this paper is to design a reasonable trajectory tracking controller to meet the high-standard performance requirements of autonomous navigation tasks and external environmental interference,such as robustness,adaptive capability,and rapid response.The main research contents are as follows:First of all,in view of the high-order terms and external interference problems of the unmanned vessel dynamics model,an adaptive boundary layer guidance law method is improved and designed to ensure that the lateral error can converge to the minimum value near zero when the unmanned vessel is traveling at high speed.A combination of expert control and S plane control technology is adopted,and the resource loss caused by numerous parameters in the S plane control method is avoided through the expert control method.The speed controller and the course controller are formed separately,and achieve the tracking of the desired path under the joint action of this two controllers.Comparison by simulation,it is verified that the guidance law and the controller have better control effects.In the sea trial test,the feasibility,reliability and Superiority of the controller are verified by carrying out path tracking control experiments under different task conditions.In addition,in order to solve the problem that the complex backstepping design is not conducive to engineering practice and integrated design,an integrated finite-time tracking controller for unmanned vehicle is designed.Considering the lack of control caused by the under-driven,the initial tracking error is first converted into a system of high-end systems,to apply the sliding mode control technique.Subsequently,an integral sliding surface was designed to present the system state inside the sliding surface during the initial tracking stage.With this design,the tracking error will have the characteristic of finite time convergence.Finally,aiming at the problem of dynamic positioning control of surface unmanned vehicle that are disturbed by marine environment and input saturation,a guaranteed cost controller based on LMI is designed to realize the dynamic positioning control of unmanned boats under the condition of input saturation constraints.Using the LMI method,the sufficient conditions for the asymptotic stability of the closed-loop system are given.The controller helps to obtain effective controller parameters by calculating four LMIs.