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《中国舰船研究》近日在线发表了2024年第一期英文翻译版文章，题为
Predefined time tracking control of underactuated surface vessel with input saturation
基于输入饱和的欠驱动水面舰艇预定义时间跟踪控制
To solve the trajectory tracking problem of underactuated surface vessels (USVs) under the condition of model uncertainty, strong coupling characteristics and controller input saturation, this study proposes a predefined time tracking control method for USVs based on input saturation.
Due to the non-zero diagonal terms and strong coupling characteristics of the USV model, coordinate transformation is introduced to transform the system model into a diagonal form. The predefined time performance function is combined with the barrier Lyapunov function (BLF) to ensure transient and stable tracking performance. Self-structuring neural networks (SSNN) are used to approximate unknown external disturbances and complex continuous unknown nonlinear terms, and deal with the impact of actuator saturation, thus ensuring the tracking performance of the control system. Moreover, the number of SSNN neurons can be adjusted online, reducing the computational burden on the control system.
Based on Lyapunov stability theory, it is proven that the closed-loop system is bounded stable in a predefined time, and the tracking error is always within the constraint range.
The simulation results show that the proposed control strategy is effective and has good tracking performance.
为解决欠驱动水面舰艇（USV）在模型不确定性、强耦合特性和控制器输入饱和情况下的轨迹跟踪问题，提出基于输入饱和的USV预定义时间跟踪控制方法。
针对USV模型具有非零对角项和强耦合特性问题，引入坐标变换，将系统模型转变为斜对角形式；将预定义时间性能函数与障碍Lyapunov函数（BLF）结合，保证瞬态和稳态的跟踪性能；利用自组织神经网络（SSNN）降低未知外部环境扰动和复杂的连续未知非线性项以及输入饱和产生的影响，以保证控制系统的跟踪精度，并且在线调整优化SSNN的神经元数目，减少控制系统的计算负担。
基于Lyapunov稳定性理论，证明了闭环系统在预定义时间内是有界稳定的，跟踪误差始终保持在约束范围内。
仿真结果表明，所提控制策略是有效的，其具有良好的跟踪性能。
USV轨迹跟踪示意图
往期英文文章回顾：
1.Design of ship course keeping controller based on zero-order holder and nonlinear modification/基于非线性修饰和零阶保持器的船舶航向保持控制
2. Variable output model-free adaptive heading control method for unmanned surface vehicle/变输出无模型自适应无人艇艏向控制方法分析
3.Long-term correlation robust tracking of visual targets for unmanned surface vehicles using multi-feature fusion/多特征融合的无人艇视觉目标长时相关鲁棒跟踪
编辑部整理了2019年以来出版的英文双语论文，每篇均对应出版了中英文两种语言版本，并按专业进行了分类。请点击“2019年以来双语版论文汇总”查看。
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