基于有限时间积分视线制导的四自由度无人水面船自适应神经网络路径跟踪控制

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中图分类号：U664.82；TP273 文献标志码：A

Abstract： To deal with the problem of path follwing for 4 degree-of-freedom （4-DOF） unmanned surface vehicles in the presence of dynamic uncertainties and external disturbances，an adaptive neural network path following control method based on the finite-time integral line-of-sight （FT-ILOS）guidance is proposed. Under the line-of-sight （LOS） guidance frame，the finite-time theory is utilized，and the integral mechanism and a novel guidance mechanism are introduced，achieving finite-time convergence of the ships’ position tracking eror while avoiding the saturation risk associated with the guidance integral

http：//www.smujournal.cn hyxb@ shmtu.edu.cn

term.On the basis of a backstepping control design framework in conjunction with FT-ILOS guidance method，the method employs adaptive neural networks to approximate compound disturbance terms and adopts virtual parameter learning techniques to addressthe“curse of dimensionality” problem，while also applying dynamic surface control techniques to reduce computational complexity. A periodic eventtriggered protocol is established between the controler and the actuator to reduce the actuator response frequency and wear. The boundedness of all signals in the closed-loop control system is proven through Lyapunov stability analysis，and the effctiveness and robustness of the proposed control method are verified through simulation contrast experiments by MATLAB.

Key words： unmanned surface vehicle;path folowing；adaptive neural network control; periodic eventtriggered protocol； finite-time integral line-of-sight guidance （FT-ILOS） guidance method

0 引言

船舶航迹跟踪控制是航海技术领域的重要研究方向，该研究不仅有助于提升船舶的航行安全性和运营效率，还能推动船舶自动化、智能化的发展[1根据跟踪状态偏差与时间的关系，航迹跟踪可分为轨迹跟踪和路径跟踪两大类[2]。（剩余13646字）