ROBUST COURSE CONTROLLER BASED TRAJECTORY LINEARIZATION CONTROL FOR UNMANNED SURFACE VEHICLE WITH INPUT SATURATION

摘要

This paper proposes a novel compound control scheme for an unmanned surface vehicle (USV) with unmodelled dynamics and unknown time-varying disturbance. On the basis of considering the saturation of the actuator, a novel course controller is presented by an enhanced trajectory linearization control (TLC) and a linear extended state observer (LESO). First, the TLC method is introduced into the field of motion control in the USV. Then, the feedback linearization control law replaces the traditional TLC controller to enhance the TLC method in a linear time-varying system. To enhance the performance of the system, an LESO is constructed to achieve real-time online estimation and compensation for the system uncertainties. Meanwhile, an auxiliary dynamic system is employed to reduce the risk of actuator saturation. In addition, the stability of the closed-loop system is established by hiring the Lyapunov stability theory. Finally, the comparison results are presented to illustrate the effectiveness of the control trategy.