Trajectory tracking control for unmanned surface vessel with input saturation and disturbances via robust state error IDA-PBC approach

• Published in: Journal of the Franklin Institute Vol. 359; no. 5; pp. 1899 - 1924
• Main Authors: Lv, Chengxing, Yu, Haisheng, Chen, Jian, Zhao, Na, Chi, Jieru
• Format: Journal Article
• Language: English
• Published: Elmsford Elsevier Ltd 01.03.2022; Elsevier Science Ltd
• Subjects: Control systems design; Controllers; Damping; Disturbances; Dynamical systems; Energy consumption; Error reduction; Robustness; Saturation; Simulation; State observers; Tracking control; Tracking control systems; Trajectory control; Vessels
• ISSN: 0016-0032; 1879-2693; 0016-0032
• DOI: 10.1016/j.jfranklin.2022.01.036

•A robust state-error IDA-PBC approach for tracking the desired trajectory of the USV system is constructed.•In order to handle the input saturation of actuator and the unknown external disturbances, an auxiliary dynamic system and a novel reduced-order ESO are coupled in the controller design.•The proposed control law can not only improve tracking performance but also reduce system energy consumption. A novel robust state error Interconnection and Damping assignment Passivity-based Control (IDA-PBC) controller for Unmanned Surface Vessels (USVs) with input saturation and disturbances is proposed. A reduced-order extended state observer, the state error IDA-PBC technique, and an auxiliary dynamic system are used in the controller design. Firstly, a reduced-order extended state observer is constructed to estimate the external disturbances. Then, the state error IDA-PBC approach reduces system energy consumption and is easy to implement. We construct an auxiliary dynamic system to handle input saturation. All signals of the whole system can guarantee uniformly ultimate boundedness. Simulations demonstrate the robustness and effectiveness of the proposed approach.