Robust saturated dynamic surface controller design for underactuated fast surface vessels including actuator dynamics

摘要

In this paper, a saturated trajectory tracking controller is proposed for high-speed surface vessels whose actuator dynamics is not negligible in practice. The hyperbolic tangent function is used as a stabilizer term to design a tracking controller via the dynamic surface control approach to improve the controller performance for all subsystems in the presence of input saturation, unmodeled dynamics, external disturbances and actuator nonlinearity. To this end, adaptive neural networks and adaptive robust controllers are combined to develop a novel saturated dynamic surface controller. Moreover, the proposed controller also compensates the effects of unknown system dynamics, actuator nonlinearity, external kinematic, dynamic and actuator disturbances simultaneously. By using Lyapunov's stability method, it is shown that all signals of the closed-loop system are uniformly ultimately bounded and simulations are performed to verify the efficacy of the proposed control scheme.