Design of anti-saturation dynamic surface tracking controller for unmanned craft based on instruction filter
In this paper,the trajectory control problem of unmanned surface craft with external interference and limited input is studied.Firstly,a three-degree-of-freedom tracking control model of unmanned vehicle considering forward,sideways and yawing is presented.Secondly,a finite-time saturated dynamic surface tracking controller is proposed for backstep method,tracking differentiator and anti-saturation auxiliary system,and the differential error caused by filter is eliminated by introducing compensation signals to improve the performance of the control system.Finally,Lyapunov stability theory is used to prove that the designed system is stable in finite time,and the effectiveness of the designed control strategy is verified by digital simulation.
万方数据
维普
