Course Keeping Control of Automatic Operation Boat with Constraints for Aquaculture

For the even bait casting in the course keeping control for automatic operation boat, the specified constraints of heading angle error and yaw velocity are required with the ability to restrain the external disturbances caused by wind and current. In order to tackle the multiple constraints and disturbances in the course keeping control, a novel finite time control method is proposed based on the barrier Lyapunov function (BLF), such that the upper constraints of heading angle error and yaw velocity can be guaranteed with disturbances restrained. Firstly, the state space model for the course keeping of the aquacultural operation boat is established, and then the strict feedback form can be obtained. Subsequently, the control laws of finite time and dynamic surface are designed. Based on Lyapunov's direct methods, the designed system can be guaranteed semi-global uniformly ultimately bounded with the enhanced ability to restrain the disturbances. Lastly, the simulation results have verified the stability effectiveness of the proposed control method. The control performance has been significantly improved with the consideration of constraints and external disturbances in the course keeping control for the operation boat.