Unmanned surface vehicle control method capable of presetting control performance without intervention of auxiliary system

• Main Authors: SU YUMIN, ZHU CHENG, ZHANG LEI, WANG WEIKAI, HUANG BING, ZHOU BIN
• Format: Patent
• Language: Chinese; English
• Published: 05.08.2022
• Subjects: CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; REGULATING

The invention provides an unmanned surface vehicle control method capable of presetting control performance without intervention of an auxiliary system. The method comprises the following steps: (1) establishing an unmanned surface vehicle kinematics and dynamics model; (2) performing preset performance control on the tracking error and determining a control target; (3) designing a model-free anti-saturation controller; and (4) verifying the stability and robustness of the unmanned ship control system. The invention provides a model-free control architecture, which gets rid of model requirements, so that uncertainty interference can be effectively resisted without introducing an auxiliary system, and the complexity and the design difficulty of the system are reduced. A saturation function based on a dead zone operator is introduced into the architecture to filter the control output, so that the controller has the anti-saturation characteristic and does not influence the control effect. A proper preset perform