Trajectory-tracking control of an unmanned surface vehicle based on characteristic modelling approach:Implementation and field testing
作者机构：College of AutomationJiangsu University of Science and TechnologyZhenjiangChina
出 版 物：《IET Cyber-Systems and Robotics》 (智能系统与机器人（英文）)
年 卷 期：2023年第5卷第2期
页 面：15-26页
核心收录：
基 金：This work was supported by the National Natural Science Foundation of China under-grant No.61903163 the Jiangsu Province Graduate Student Practice Innovation Project under-grant No.SJCX22−1891
主 题：adaptive control characteristic model trajectory-tracking unmanned surface vehicle
摘 要：In this study,a practical adaptive control scheme is proposed for the trajectory tracking of an unmanned surface vehicle via the characteristic modelling ***,accurate tracking control can be achieved in the presence of unknown time‐varying model parameters and environmental *** control scheme comprises a trajectory guidance module based on the virtual target approach and a tracking control module designed by characteristic modelling ***,the ideal control commands of the yaw speed and surge speed are generated using the position errors between the vehicle and the virtual ***,a second‐order characteristic model for the heading and surge speed channel is *** parameters of the model are updated by a real‐time parameter identification *** on this model,an integrated adaptive control law is designed which consists of golden‐section control,feed‐forward control and integral ***,the development processes of the vehicle platform and the control algorithms are described,and the results of simulation and field experiments are presented and discussed.
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