| 摘要: |
| 为实现无人船海上自主作业，无人船运动控制的快速性、准确性以及鲁棒性亟待提高。首先从全驱动控制和欠驱动控制角度，分别概括了国内外无人船航向控制、航速控制、轨迹跟踪控制以及路径跟踪控制的主流控制方法。其次，归纳总结了处理海洋环境不确定扰动的研究进展，包括扰动的建模和消除、抑制扰动的主流方法。最后，总结了无人船运动控制现状与存在的问题，并从工程应用和理论研究两个角度对未来的研究方向进行了展望。 |
| 关键词: 无人船 运动控制 模型不确定性 环境扰动的处理 |
| DOI：10.11759/hykx20190611004 |
| 分类号:U664.82 |
| 基金项目:国家重点研发计划项目（2017YFC1405203）；中央高校基本科研业务费专项资助（19CX05003A-1）；中央高校基本科研业务费专项资助（17CX02079） |
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| Overview of unmanned surface vehicle motion control methods |
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PEI Zhi-yuan1, DAI Yong-shou1, LI Li-gang1, JIN Jiu-cai2, SHAO Feng1
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1.College of Information and Control Engineering, China University of Petroleum, Qingdao 266580, China;2.First Institute of Oceanography, Ministry of Natural Resources, Qingdao 266061, China
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| Abstract: |
| To realize the autonomous operation of unmanned surface vehicles (USVs) at sea, the rapidity, accuracy, and robustness of USV motion control need to be improved urgently. First, from the angle of full drive control and underactuated control, the main control methods of course control, speed control, track tracking control, and path tracking control are summarized. Second, the research progress of dealing with uncertain disturbance in marine environments is described, including the mainstream methods of disturbance modeling and disturbance elimination and suppression. Finally, the present situation and existing problems of USV motion control are outlined, and future research directions are proposed from the perspectives of engineering application and theoretical research. |
| Key words: unmanned surface vehicles motion control model uncertainty environmental disturbance management |
