基于有限時(shí)間積分視線制導(dǎo)的四自由度無人水面船自適應(yīng)神經(jīng)網(wǎng)絡(luò)路徑跟蹤控制

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中圖分類號：U664.82；TP273 文獻(xiàn)標(biāo)志碼：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

船舶航跡跟蹤控制是航海技術(shù)領(lǐng)域的重要研究方向，該研究不僅有助于提升船舶的航行安全性和運(yùn)營效率，還能推動(dòng)船舶自動(dòng)化、智能化的發(fā)展[1根據(jù)跟蹤狀態(tài)偏差與時(shí)間的關(guān)系，航跡跟蹤可分為軌跡跟蹤和路徑跟蹤兩大類[2]。（剩余13646字）