Error-Driven-Based Nonlinear Feedback Recursive Design for Adaptive NN Trajectory Tracking Control of Surface Ships With Input Saturation

摘要

In this paper, we investigate the trajectory tracking control problem of surface ship subject to the dynamic uncertainties, unknown time-varying disturbances and input saturation. To handle the non-smooth input saturation nonlinearity and compensate the ship dynamic uncertainties, Gaussian error function and adaptive neural network technique are employed. In control design, to obtain the transient motion reference signal, finite-time nonlinear tracking differentiator is applied to generate virtual reference signal and to extract the derivative of virtual control law. Referring to the effects of the kinematics subsystem on the kinetics subsystem caused by the error of tracking differentiator, and the effects of the input saturation on the control accuracy and the dynamic quality of the trajectory tracking control system, we propose an error-driven-based nonlinear feedback recursive design technique to design trajectory tracking control law, and employ a new non-quadratic Lyapunov functions to analyze the trajectory tracking control system stability. The proposed control scheme fully embodies the characteristics of the lowgain and high-gain control, and overcomes the effect of tracking differentiator error on closed-loop system by recursive design method. Simulation results verify the effectiveness of our proposed control scheme.