Adaptive trajectory tracking algorithm of unmanned surface vessel based on anti-windup compensator with full-state constraints

摘要

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.