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研究了无人水面船舶系统在有色噪声干扰下的机动性控制问题。首先，在二阶矩意义下描述了具有可调设计参数的随机机动性控制目标。其次，采用耦合项噪声分离技术解决了外部噪声扰动的影响，基于向量backstepping技术和滤波梯度更新律设计机动性控制器，使得闭环误差系统是二阶矩噪声到状态稳定的，并且路径跟踪误差和速度分配误差的二阶矩分别收敛到零点附近的邻域内，通过选取独立设计参数使得这些邻域的半径可以调节到任意小。最后，仿真结果验证了所提控制策略的有效性。
Abstract：The maneuvering control of unmanned surface ship system under colored noise disturbances is studied in this paper.Firstly, a random maneuvering control target with adjustable design parameters was described in the sense of second moment.Secondly, the coupling term noise separation technology was used to solve the influence of external noise disturbances, and the maneuvering controller was designed based on vector backstepping technology and filter gradient update law, ensuring that the closed-loop error system is second-order moment noise-to-state stable, and the second-order moments of path tracking error and velocity distribution error converge to the neighborhood near the zero point, respectively.By selecting independent design parameters, the radius of these neighborhoods can be adjusted to be arbitrarily small.Finally, the simulation results were given to verify the effectiveness of the proposed control strategy.
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基本信息:
DOI：10.20062/j.cnki.CN37-1453/N.2026.01.007
中图分类号:U664.82
引用信息:
[1]姜国庆,张会.受有色噪声干扰的无人水面船舶系统的机动性控制[J].鲁东大学学报(自然科学版),2026,42(01):58-68.DOI:10.20062/j.cnki.CN37-1453/N.2026.01.007.
基金信息:
国家自然科学基金(62073275)