Journal
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
Volume 52, Issue 9, Pages 5646-5655Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMC.2021.3129798
Keywords
Marine vehicles; Trajectory tracking; Trajectory; Convergence; Azimuth; Uncertainty; Surges; Adaptive control; prescribed performance; trajectory tracking; underactuated surface vessels (USVs)
Funding
- National Natural Science Foundation of China [62103093]
- Fundamental Research Funds for the Central Universities [N2108003]
- Project of Science and Technology Plan of Liaoning Province [2020JH2/10500001]
Ask authors/readers for more resources
This article introduces a new adaptive prescribed performance control strategy for trajectory tracking of underactuated surface vessels (USVs) by utilizing constraint-handling technique and auxiliary variable, which impose constraints on both position error and auxiliary variable simultaneously to achieve predefined performance with a singularity-free continuous control action.
This article is dealt with the problem of trajectory tracking with prescribed performance for a family of underactuated surface vessels (USVs) under model uncertainties and disturbances. The prescribed performance means that the USV tracks a given trajectory with the arbitrarily predefined speed of response and accuracy. The existing prescribed performance control (PPC) solutions and the traditional robust control approaches for USVs may have the singularity issue or cause a discontinuous control signal. Thereby, a new-type adaptive PPC strategy is put forward in this article. The adaptive technique is devoted to tackling model imperfections as usual, whereas the constraint-handling technique is adopted in a novel way. Herein, we first construct an auxiliary variable instead of using the approach angle or azimuth angle. Then, we impose constraints on the position error, not the tracking error, and the auxiliary variable, simultaneously. In this way, the predefined performance is achieved by moreover a singularity-free continuous control action. These theoretical findings are illustrated via a comparative simulation study.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available