SHIPENGINEERING船舶工程Vol.45No.12023总第45卷，2023年第1期—120—无人水面艇模糊自抗扰路径跟踪控制的研究与验证刘磊，范云生，沈心乐（大连海事大学船舶电气工程学院，辽宁大连116026）摘要：针对无人水面艇路径跟踪的精确控制问题，进行路径跟踪控制的研究。根据需求构建合适的无人水面艇运动数学模型，利用自抗扰控制算法，设计路径跟踪控制器，考虑到自抗扰控制中参数较为繁杂且整定不易的特点，结合模糊控制理论设计模糊自抗扰路径跟踪控制器。以大连海事大学“蓝信”号无人艇为研究对象，针对所设计的2种控制器进行MATLAB仿真试验，并使用“蓝信”号无人艇在大连星海湾大桥外海域进行实船验证试验，通过对仿真结果和试验结果的分析与对比，验证了所设计方法的可行性和有效性。关键词：无人水面艇；自抗扰控制；模糊控制；路径跟踪中图分类号：U664.82;TP273文献标志码：A【DOI】10.13788/j.cnki.cbgc.2023.01.19ResearchandVerificationofFuzzyADRCPathFollowingControllerforUSVLIULei,FANYunsheng,SHENXinle(CollegeofMarineElectricalEngineering,DalianMaritimeUniversity,Dalian116026,Liaoning,China)Abstract:Aimingattheprecisecontrolproblemofthepathfollowingofunmannedsurfacevehicle(USV),thepathfollowingcontrolisresearched.AnappropriatemotionmathematicalmodelofUSVisconstructedaccordingtotherequirements,andthepathfollowingcontrollerisdesignedbytheactivedisturbancerejectioncontrol(ADRC)algorithm.ConsideringthecomplexparametersanddifficulttuningcharacteristicsofADRC,afuzzyADRCpathfollowingcontrollerisdesignedbycombiningthefuzzycontroltheory.Taking"Lanxin"USVofDalianMaritimeUniversityastheresearchobject,MATLABsimulationexperimentsarecarriedoutforthetwocontrollersdesigned.The"Lanxin"USVisusedtocarryoutarealshipverificationtestintheseaareaoutsideDalianXingwanBridge.Throughtheanalysisandcomparisonofsimulationresultsandexperimentalresults,theeffectivenessandfeasibilityoftheproposedmethodareverified.Keywords:unmannedsurfacevehicle(USV);activedisturbancerejectioncontrol;fuzzycontrol;pathfollowing0引言无人水面艇（UnmannedSurfaceVehicle,USV）作为一种监测海洋环境、维护海洋权益和执行军事任务的海洋无人平台，具有广泛的应用前景，已成为了国内外智能...
