ROBUST COURSE CONTROLLER BASED ON ENHANCED TRAJECTORY LINEARIZATION CONTROL FOR UNMANNED SURFACE VEHICLE WITH INPUT SATURATION

Bingbing Qiu, Guofeng Wang, Yunsheng Fan, Dongdong Mu, Xiaojie Sun

Keywords

USV, TLC, feedback linearization, linear ESO

Abstract

This paper proposes a novel compound control scheme for unmanned surface vehicle (USV) with unmodeled dynamics and unknown time-varying disturbance. On the basis of considering the saturation of the actuator, a novel course controller is presented by enhanced trajectory linearization control (TLC) and linear extended state observer (ESO). First, TLC method is first introduced into the field of motion control in USV. Then the feedback linearization control law replaces traditional TLC controller to enhance TLC method in linear time-varying (LTV) system. To enhance performance of the system, a linear ESO is constructed to achieve real-time online estimation and compensation for the system uncertainties. Meanwhile, auxiliary dynamic system is employed to reduce the risk of actuator saturation. In addition, the stability of the closed-loop system is established by hiring Lyapunov stability theory. Finally, the comparison results are presented to illustrate the effectiveness of the control strategy.

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