基于非线性干扰观测器的无人艇自适应路径跟踪控制OA

This study addresses the issues of unknown disturbances and poor robustness in the path tracking of unmanned surface vehicles,and proposes an adaptive integral guidance control method based on a nonlinear disturbance observer.Firstly,the adaptive integral line-of-sight(AILOS)guidance law is combined with the USV dynamics controller to achieve real-time adaptive guidance of the desired heading angle and compensate for the unknown time-varying yaw angle caused by external environmental disturbances through integration.Secondly,a nonlinear disturbance observer is designed to compensate for the unknown external environmental disturbances received by the system.Then,the kinematic and dynamic control laws of the path tracking system are designed from top to bottom using the desired heading angle and the estimated disturbance value,to achieve precise path tracking control of the unmanned surface vehicles.Finally,the stability of the controller is proved by Lyapunov theory,and the SimuNPS simulation is used for verification.The simulation results show that this control method can precisely track the path and has strong robustness under specific complex disturbances.All tracking indicators of the unmanned surface vehicles controller have reached the expected goals,verifying the effectiveness of the proposed adaptive integral guidance control method.