针对复杂海况下水面无人艇轨迹跟踪控制问题，提出一种基于事件触发的全局预设时间预设性能控制方法。设计一个初始值为无穷大的全局预设时间预设性能函数，并基于该函数建立无人艇跟踪误差的预设性能约束，使具有任意初始值的有界跟踪误差满足给定的暂态性能和稳态性能；基于所设计的自适应神经网路更新律，构造预设性能事件触发控制器。该控制器可实现全局预设时间预设性能，避免芝诺现象，并动态补偿模型不确定性与海洋未知扰动。最后，通过仿真和对比实验进一步说明了所提出控制策略的有效性和优越性。
Aiming at the trajectory tracking control problem of USV under complex sea conditions, a global preset time preset performance control method based on event triggering is proposed. A global preset time preset performance function with infinite initial value is designed. Based on this function, the preset performance constraint of the tracking error of the USV is established, so that the bounded tracking error with any initial value satisfies the given transient performance and steady-state performance. Based on the designed adaptive neural network update law, a preset performance event-triggered controller is constructed. The controller can achieve global preset time preset performance, avoid Zeno phenomenon, and dynamically compensate model uncertainty and unknown ocean disturbance. Finally, the effectiveness and superiority of the proposed control strategy are further illustrated by simulation and comparative experiments.
2026,48(4): 172-178 收稿日期：2025-4-29
DOI：10.3404/j.issn.1672-7649.2026.04.026
分类号：U675.91
作者简介：武正潼(2000-),男,硕士研究生,研究方向为水面无人艇运动控制
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