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Fixed-Time Trajectory Tracking Control of Fully Actuated Unmanned Surface Vessels with Error Constraints.
- Source :
- Journal of Marine Science & Engineering; Apr2024, Vol. 12 Issue 4, p584, 17p
- Publication Year :
- 2024
-
Abstract
- 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. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 20771312
- Volume :
- 12
- Issue :
- 4
- Database :
- Complementary Index
- Journal :
- Journal of Marine Science & Engineering
- Publication Type :
- Academic Journal
- Accession number :
- 176879798
- Full Text :
- https://doi.org/10.3390/jmse12040584