Adaptive trajectory tracking algorithm of unmanned surface vessel based on anti-windup compensator with full-state constraints. (15th March 2020)

• Record Type: Journal Article
• Authors: Qin, Hongde; Li, Chengpeng; Sun, Yanchao; Wang, Ning
• Is Part Of: Ocean engineering. Volume 200(2020)
• Publication Date: 2020-03-15
• Subjects: Unmanned surface vessel -- Barrier lyapunov function -- Anti-windup compensator -- Input saturation -- Full-state constraints; Ocean engineering -- Periodicals; Ocean engineering; Periodicals; 620.4162
• DOI: 10.1016/j.oceaneng.2019.106906
• Languages: English
• ISSNs: 0029-8018

Abstract

Abstract: In this paper, a trajectory tracking control strategy based on anti-windup compensator is proposed for unmanned surface vessels subject to input saturation and full-state constraints. The saturation problem is handled by the anti-windup compensator, which utilizes an auxiliary system to compensate for the saturation difference directly. In addition, the barrier Lyapunov function is employed to prevent states from violating the constraints. It is proved that the proposed control strategy can achieve the semi-global uniform boundedness of the closed-loop system through Lyapunov stability theory. Finally, simulation results further demonstrate its excellent performance. Highlights: ● The barrier Lyapunov function is employed to realize the full-state constraints for unmanned surface vessels. ● Based on the anti-windup compensator, an auxiliary system is utilized to address the actuator saturation problem. ● The adaptive method is utilized to address the unknown disturbances in the trajectory tracking control.