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Robust trajectory tracking control of marine surface vessels with uncertain disturbances and input saturations

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Abstract

In this paper, a novel robust trajectory tracking control law is proposed for marine surface vessels with uncertain disturbances and input saturations using a tan-type barrier Lyapunov function and a backstepping technique. The low-frequency disturbances in kinetics from wind and waves are estimated by a nonlinear finite-time disturbance observer (FTDO). An adaptive estimation law is employed to estimate the unknown time-varying current velocities. A Gaussian error function-based continuous differentiable asymmetric saturation model is employed to handle the effect of nonsmooth asymmetric saturation nonlinearity using a backstepping technique, and auxiliary dynamic systems are used to compensate for the input saturation constraints on the actuators. Lyapunov stability analysis proves that all the signals of the closed-loop systems are guaranteed to be semi-globally uniformly ultimately bounded, and the tracking errors can converge to a small neighborhood of the origin by appropriately selecting the control parameters. Simulations and comparison results are presented to verify the effectiveness of the proposed method.

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Acknowledgements

This work was supported by the 2019 "Chong First-class" Provincial Financial Special Funds Construction Project [Grant No. 231419019], the Natural Science Foundation of Guangdong Province in China [Grant No. 2018A0303130076], the Fostering Plan for Major Scientific Research Projects of Education Department of Guangdong Province-Characteristic Innovation Projects (Grant No. 2017KTSCX087) and the Fund of Southern Marine Science and Engineering Guangdong Laboratory (Zhanjiang) (Grant No. ZJW-2019-01).

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  1. School of Mechanical and Power Engineering, Guangdong Ocean University, Zhanjiang, 524088, China

    Haitao Liu & Guangjun Chen

  2. Southern Marine Science and Engineering Guangdong Laboratory (Zhanjiang), Zhanjiang, 524000, China

    Haitao Liu

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  1. Haitao Liu
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  2. Guangjun Chen
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Correspondence to Guangjun Chen.

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Liu, H., Chen, G. Robust trajectory tracking control of marine surface vessels with uncertain disturbances and input saturations. Nonlinear Dyn 100, 3513–3528 (2020). https://doi.org/10.1007/s11071-020-05701-8

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