关键词: 轨迹跟踪；自适应控制；返步设计法；L₂增益干扰抑制

Abstract: Regarding the problem of trajectory tracking on the ship, it proposes the shortest tracking way to ensure that the ship keeps up with the expected straight line rapidly. That is looking for the optimal tracking point in the expected straight line and making the ship trajectory tracking. To get the calculation location by utilizing the interpolation method when the ship is running, it designed a trajectory tracking controller for position tracking which is uniformly asymptotical, based on backstepping. Considering the existence of disturbance, it improved the controller with the L-two-gain disturbance attenuation. Numerical simulation has been performed on the platform of MATLAB. Experimental results indicate that the proposed controller can quickly track the expected line, while keeping good reliability and a small margin of error in the trajectory tracking.

Key words: trajectory tracking; adaptive; backstepping; L-two-gain disturbance attenuation