Journal
OCEAN ENGINEERING
Volume 245, Issue -, Pages -Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2021.110468
Keywords
Appointed-time tracking performance; Stability analysis; Approximation-free control; Marine surface vessel
Funding
- Fundamental Research Funds for the Central Universities [XK2010021018, GK2010260338]
- Science and Technology on Underwater Vehicle Laboratory [6217905300000870562, JCKYS2020SXJQR-03]
- China Postdoctoral Science Foundation [2020M681081]
- Hei Long Jiang Postdoctoral Foundation [LBHZ20130]
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This paper investigates the tracking control problem for the marine surface vessel (MSV) under external disturbances, parametric uncertainties, actuator faults, and saturation constraints. A new appointed-time performance function is designed, and a modified backstepping control design process is conducted to achieve the approximation-free prescribed performance control with appointed-time convergence. The developed control scheme possesses features of quantitatively characterizing performance, high robustness against disturbances and uncertainties, fault-tolerant and anti-saturation capabilities.
This paper investigates the tracking control problem for the marine surface vessel (MSV) under external disturbances, parametric uncertainties, actuator faults, and saturation constraints. The objective is to achieve the approximation-free prescribed performance control with appointed-time convergence. For this purpose, a new appointed-time performance function is designed, and a modified backstepping control design process is conducted. By means of the above contributions, a tracking control scheme possessing the following three features is developed. First, the derived control scheme can characterize the transient and steady-state performance quantitatively a priori. Unlike the conventional prescribed performance control, the appointed-time tracking performance can be guaranteed without the knowledge of initial system conditions. Second, the control design has high robustness against external disturbances and parametric uncertainties. Particularly, the auxiliary compensation system applied for lumped uncertainties is dropped out here such that the control design is simplified. Third, the derived control scheme has both fault-tolerant and anti-saturation merits. Numerical simulations are provided to support the analysis.
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