Trajectory tracking control of unmanned surface vehicle based on optimized barrier Lyapunov function under real ocean wave modeling

The state-constrained trajectory tracking control problem of unmanned surface vehicle (USV) under real wave interference is studied in this paper. This method is closer to the actual situation. Firstly, the interference of real ocean waves measured by ocean wave experiments on USV is considered. The wave spectrum and the equal interval method are used to simulate ocean waves in combination with the classical long-crested wave model. Secondly, the simulated wave is innovatively transformed into wave interference force, and the interference of the real wave is applied to the state constraint control of USV. The disturbance observer is used to observe and compensate for the external real wave interference, and the input saturation problem in real situations is fully considered. Furthermore, this paper proposes an improved logarithmic constraint function, which pre-set the performance function to constrain the trajectory tracking position error of the USV within a reasonable range. Finally, the rationality and effectiveness of the control strategy are verified by simulation.