Optimal Ship Trajectory Tracking Based on Backstepping

Hu Feng-juan; Song Ya-nan; Xu Rong-hua; Tan Fang

doi:10.3969/j.issn.1007-7162.2013.01.009

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Optimal Ship Trajectory Tracking Based on Backstepping

更新时间：2026-05-27

- Optimal Ship Trajectory Tracking Based on Backstepping
- Vol. 30, Issue 1, Pages: 50-54(2013)
- 作者机构：
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- DOI：10.3969/j.issn.1007-7162.2013.01.009
  CLC：
- Published：2013
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胡凤娟, 宋亚男, 徐荣华, 谭芳. 基于Backstepping的船舶轨迹最优跟踪研究[J]. 广东工业大学学报, 2013, 30(1): 50-54.

Hu Feng-juan, Song Ya-nan, Xu Rong-hua, et al. Optimal Ship Trajectory Tracking Based on Backstepping[J]. 2013, 30(1): 50-54.
胡凤娟, 宋亚男, 徐荣华, 谭芳. 基于Backstepping的船舶轨迹最优跟踪研究[J]. 广东工业大学学报, 2013, 30(1): 50-54. DOI： 10.3969/j.issn.1007-7162.2013.01.009.

Hu Feng-juan, Song Ya-nan, Xu Rong-hua, et al. Optimal Ship Trajectory Tracking Based on Backstepping[J]. 2013, 30(1): 50-54. DOI： 10.3969/j.issn.1007-7162.2013.01.009.

摘要

针对船舶轨迹跟踪问题，为使船舶能快速跟上期望直线，提出最短距离跟踪思想，即在期望直线上寻找最优跟踪点进行轨迹跟踪.采用插值法获得船舶运动的预测位置，基于Backstepping方法获得位置跟踪的全局一致渐近跟踪控制器.考虑到系统存在干扰，进一步考虑L

增益干扰抑制.在Matlab平台上进行了仿真验证，结果表明，本文所提出的方法不仅能快速跟踪期望直线，而且跟踪误差较小.

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.

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