In order to simplify the design process of the controller, improve the robustness of the system, and save the energy output of the controller, a controller improved by nonlinear feedback is designed. First of all, by constructing the Lyapunov function, the controller design process is simplified, and the nonlinear control law is avoided to cancel the nonlinear term of the system; then, the heading error processed by the power function is used to replace the nonlinear feedback term of the heading error itself; finally, the training ship “Yupeng” was used as an example for system simulation. Compared with the pure backstepping method, the simulation results show that the average energy cost of heading keeping of the proposed algorithm is reduced by 21.7%, and the maximum energy cost of heading tracking is reduced by 34.9%, with the strong anti-interference ability. Studies have shown that the introduction of nonlinear feedback terms can optimize the control system, save energy, and enhance robustness, which is of great significance in practical engineering applications.
An adaptive finite-time trajectory tracking scheme is proposed to solve the problem of trajectory tracking of underactuated surface ship affected by dynamic uncertainties and external disturbances. In this scheme, underactuated transformation is performed by using kinematic virtual control law transformation and bounded constraint. By designing adaptive control to approach the upper bound of uncertainty and unknown disturbance, the problem of parameter uncertainty and external disturbance are solved. It is proven by Lyapunov theory that the error signals in the system can converge quickly to the stable region in finite time. Finally, by comparing the simulation results, it is verified that the proposed control scheme can make the underactuated ship track the desired trajectory in finite time. Compared to the traditional control method, the convergence rate of the system error is faster, and it exhibits strong robustness in the face of unknown external disturbances. This has a certain reference value for practical engineering applications.
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