路径跟踪控制是水面无人艇进行水面作业的关键技术，针对高速无人艇在路径跟踪过程中存在过弯偏差大、收敛速度慢、抗干扰能力弱等问题，提出基于降阶扩张状态观测器的动态前视距离视线法（ESO-DFLOS），通过融合前视距离和跟踪误差加快收敛速度，利用动态面技术避免反步法的“微分爆炸”，引入辅助观测系统补偿推力输入受限，设计了自适应航速航向鲁棒控制器。仿真与湖试实验结果表明，提出的方法能有效减小水面无人艇高航速过弯时的最大横侧偏差（42.6%）和平均横向误差（38.4%），降低航速振荡幅度（24%），加快误差收敛速度（33%），提升了高速无人艇路径跟踪精度和控制系统鲁棒性。
Path tracking control is a key technology for unmanned surface vehicles (USV) to carry out surface operations. High-speed unmanned vehicles have the following problems in the process of path tracing, such as large cornering deviation, slow convergence speed, and weak anti-interference capability. In order to solve these problems, a dynamic forward distance and line-of-sight method based on a reduced order extended state observer (ESO-DFLOS) is proposed. by merging forward distance and tracking error to accelerate convergence speed, using dynamic surface technology to avoid "differential explosion" of backstepping method, introducing auxiliary observation system to compensate for limited thrust input, and then an adaptive speed and heading robust controller was designed. The results of simulation and lake trial experiments indicated that, the proposed method can effectively reduce the maximum lateral deviation (42.6%) and average lateral error (38.4%) of USV during high-speed turning, decrease the amplitude of speed oscillation (24%), accelerate error convergence speed (33%), and improve the path tracking accuracy and control system robustness of high-speed USV.
2024,46(23): 103-110 收稿日期：2024-1-24
DOI：10.3404/j.issn.1672-7649.2024.23.017
分类号：TP273
作者简介：李昂(1998-),男,硕士研究生,研究方向为水面高速无人艇路径跟踪控制系统及方法
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