Prescribed-Time Trajectory Tracking Control for Unmanned Surface Vessels with Prescribed Performance Considering Marine Environmental Interferences and Unmodeled Dynamics
Year: 2024
Type: article
Abstract: This article investigates a prescribed-time trajectory tracking control strategy for USVs considering marine environmental interferences and unmodeled dynamics. Firstly, a fixed-time extended state observer is introduced to quickly and accurately observe the compound perturbations including ocean disturbances and unmodeled dynamics. Subsequently, a prescribed-time prescribed performance function is utilized to obtain guaranteed transient performance within a predefined time. Finally, combining the fixed-time extended state observer, dynamic surface control technique, and prescribed-time prescribed performance control, a prescribed-time prescribed performance control strategy is developed to guarantee that the tracking errors converge to a predefined performance constraint boundary within a prescribed time. The effectiveness and superiority of the presented control strategy is verified by the simulation results.
DOI: 10.3390/jmse12081380
Authors: Bowen Sui, Yiping Liu, Jianqiang Zhang, Zhong Liu, Yuanyuan Zhang
Institution: Naval University of Engineering
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,955
OpenAlex ID: W4401510202