Fixed-Time Trajectory Tracking Control of Fully Actuated Unmanned Surface Vessels with Error Constraints
| Autor: | Bowen Sui, Jianqiang Zhang, Zhong Liu, Junbao Wei |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2024 |
| Předmět: | |
| Zdroj: | Journal of Marine Science and Engineering, Vol 12, Iss 4, p 584 (2024) |
| Druh dokumentu: | article |
| ISSN: | 12040584 2077-1312 |
| DOI: | 10.3390/jmse12040584 |
| Popis: | This paper proposes a fixed-time prescribed performance control technique to address the challenge of precise trajectory tracking control for unmanned surface vessels (USVs) in the presence of external time-varying disturbances and input saturation. To begin with, a fixed-time disturbance observer is created to handle the time-varying external interference. The observer can accurately estimate and compensate for the disturbance in a fixed time, which effectively improves the robustness of the system. Furthermore, to guarantee both the transient and steady-state response of the system, we employed a specific control technology that ensures the trajectory tracking error remains within a preset bounded range. Then, combined with the fixed-time disturbance observer, the command filter, the prescribed performance control technology, and the fixed-time stability theory, a fixed-time trajectory tracking control law is designed to make the trajectory tracking error of the system converge in a fixed time. Finally, an experiment was designed to validate the suggested control scheme. The results show that under the same conditions, compared with the nonlinear controller and the finite-time controller, the absolute error tracking index of this paper is the lowest, which means that the presented control scheme has higher accuracy. |
| Databáze: | Directory of Open Access Journals |
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