Under-actuated water surface ship path tracking control method based on extended state observer

• Main Authors: LIU YEYE, SU JIANGYU, LI HENG, ZHAO DAWEI, CHANG HONGYU, SUN XIAOQING, SUN HAN, LAI CHONGLANG, YANG HUADONG, NIE JUN, WANG HUATING, LIU XIANGBO, TIAN WEIDA, ZHANG CHAO, LIN XIAOGONG
• Format: Patent
• Language: Chinese; English
• Published: 05.02.2021
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention belongs to the technical field of path tracking control of an under-actuated water surface ship, and relates to an under-actuated water surface ship path tracking control method based onan extended state observer. According to the under-actuated water surface ship path tracking control method based on the extended state observer of the invention, the three-order extended state observer is designed, so that the speed of an under-actuated water surface ship and unknown synthetic interference formed by model uncertainty items and unknown external environment interference can be observed at the same time. An LOS guide law based on a speed observation value and a path tracking anti-saturation output feedback controller are designed, path tracking robust control of the under-actuated water surface ship under the conditions of actuator input saturation and unknown speed measurement values is achieved. According to the method, the under-actuated water surface ship can track an expected path at an expect