Prescribed-Time Trajectory Tracking Control for Unmanned Surface Vessels with Prescribed Performance Considering Marine Environmental Interferences and Unmodeled Dynamics

被引:0
作者
Sui, Bowen [1 ]
Liu, Yiping [1 ]
Zhang, Jianqiang [1 ]
Liu, Zhong [1 ]
Zhang, Yuanyuan [1 ]
机构
[1] Naval Univ Engn, Coll Weaponry Engn, Wuhan 430033, Peoples R China
关键词
unmanned surface vessels; prescribed-time control; prescribed performance; trajectory tracking; fixed-time extended state observer; SLIDING MODE CONTROL; VEHICLES; FEEDBACK;
D O I
10.3390/jmse12081380
中图分类号
U6 [水路运输]; P75 [海洋工程];
学科分类号
0814 ; 081505 ; 0824 ; 082401 ;
摘要
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.
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页数:14
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