[Objective]A finite-time disturbance observer-based optimal backstepping control(FDO-OBC)method is proposed for the issue of unknown disturbances and formation changes in the formation trajectory tracking of unmanned surface vehicles(USVs).[Methods]First,the USV formation control framework is established on the basis of the virtual structure method,and the kinematics and dynamics formation control-lers are designed.Second,a finite-time disturbance observer is introduced to estimate and compensate for un-known environmental disturbances in real time.Further,a dynamic trajectory optimization strategy based on optimal backstepping control is proposed for the trajectory tracking issue of formation change,and the inform-ation of the disturbance observer is used to calculate the optimal control input and achieve the dynamic optim-ization of USV formation trajectory tracking.Finally,Lyapunov stability theory is used to demonstrate the sta-bility of the designed formation control method.[Results]The simulation results indicate that the proposed control strategy can effectively improve the accuracy and robustness of the USV formation system.[Conclu-sion]The FDO-OBC method provides a new technical means for the design of USV formation control sys-tems under unknown environmental disturbances.
维普
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