引用本文:杨铭宣,王保防,蔡明洁,于金鹏.欠驱动无人船预设性能轨迹跟踪控制[J].控制理论与应用,2026,43(4):927~935.[点击复制]
YANG Ming-xuan,WANG Bao-fang,CAI Ming-jie,YU Jin-peng.Prescribed performance control for trajectory tracking of underactuated unmanned surface vehicle[J].Control Theory & Applications,2026,43(4):927~935.[点击复制]
欠驱动无人船预设性能轨迹跟踪控制
Prescribed performance control for trajectory tracking of underactuated unmanned surface vehicle
摘要点击 105  全文点击 26  投稿时间：2024-04-22  修订日期：2025-10-13
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DOI编号  10.7641/CTA.2024.40229
  2026,43(4):927-935
中文关键词  欠驱动无人船  轨迹跟踪  预设性能控制  有限时间扰动观测器  动态面控制
英文关键词  underactuated unmanned surface vehicle  trajectory tracking  prescribed performance control  finite-time disturbance observer  dynamic surface control
基金项目  国家自然基金项目(62473220, 62103212), 教育部“长江学者奖励计划”特聘教授项目(T2022265), 山东省重点研发计划项目(2022CXGC020901), 青岛市关键技术攻关及产业化示范类项目(RH2300004017)资助.
作者单位E-mail
杨铭宣 青岛大学 自动化学院 whalesongyyy@163.com 
王保防 青岛大学 自动化学院  
蔡明洁 青岛大学 自动化学院  
于金鹏* 青岛大学 自动化学院 yjp1109@126.com 
中文摘要
      针对欠驱动无人船高精度轨迹跟踪控制, 本文提出了一种基于扰动观测器的有限时间预设性能轨迹跟踪 控制方法. 首先, 引入预设性能函数, 对误差变量进行限制, 并通过变换函数对限制后的误差变量进行转换, 用于控 制设计过程, 确保轨迹跟踪控制系统按预设性能收敛; 其次, 采用动态面技术, 令虚拟控制信号通过一阶滤波器, 避 免对虚拟控制律的直接求导, 简化控制律设计过程; 随后, 针对时变的外部扰动, 设计了有限时间扰动观测器, 对扰 动进行估计和补偿, 通过理论分析证明了系统的实际有限时间稳定性; 最后, 通过设计对比仿真, 验证了所提控制方 法的有效性和优越性.
英文摘要
      This paper offers a finite-time prescribed performance tracking control framework for underactuated unmanned surface vehicles based on disturbance observers, adapting it to the tracking challenges. Firstly, the prescribed performance control is employed to limit the tracking error variables, and the limited error variable is transformed by the transformation function and applied to the control design process to ensure that the trajectory tracking control system converges according to the prescribed performance control. Secondly, the dynamic surface is adopted to make the virtual control signal pass through the first-order filter, avoiding the direct derivation of the virtual control law and simplifying the design process of the control law. Thirdly, in the presence of disturbances, a disturbance observer is proposed to estimate and compensate for the disturbances in finite time. Finally, theoretical analysis demonstrates that the system is finite-time stable. The effectiveness of the proposed control protocol is validated by the simulation results.