期刊
OCEAN ENGINEERING
卷 200, 期 -, 页码 -出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2019.106906
关键词
Unmanned surface vessel; Barrier lyapunov function; Anti windup compensator; Input saturation; Full stateconstraints
资金
- National Natural Science Foundation of China [U1713205, 61803119]
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.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据