With the introduction of the closed-loop shaping filtering method into the L2 gain robust controller design strategy, a nonlinear robust steering controller for unmanned surface vessel is designed under the planning and control strategy in this paper. The rigorous mathematical analysis and synthesis characteristics of the L2 gain robust control theory and the Lyapunov design method are fully utilized in the controller design process. Furthermore, the concept of the closed-loop shaping filtering based on the classical closed-loop control theory is taken into the controller design strategy. Therefore, the time domain controller design methods integration with the frequency domain controller design strategy are merged togehter to complete the unmanned surface vessel steering controller design in the view of practical engineering and planning and control strategy. Finally, compared with several practical controller design methods in the multi-direction irregular waves, the simulation results show that the proposed steering controller design strategy has concise structure, distinctive physic meanings of the controller parameters and superior comprehensive control performance.
Synthesis of Robust Control Systems for a Class of Uncertain Linear Systems via an Adaptive Compensation Input : A Design Method of an Adaptive Compensation Input Avoiding Chattering Phenomenon(Mechanical Systems)
