期刊
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷 67, 期 6, 页码 4889-4899出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2019.2931242
关键词
Actuators; Convergence; Trajectory tracking; Uncertainty; Force; Fault tolerance; Fault tolerant systems; Actuator faults; autonomous surface vessels; fixed-time convergence; model uncertainties; specified accuracy
资金
- National Natural Science Foundation of China [61621004, 61420106016, 61703429]
- Research Fund of State Key Laboratory of Synthetical Automation for Process Industries [2018ZCX03]
This article investigates the trajectory tracking control problem for a family of underactuated autonomous surface vessels under the condition of model uncertainties, actuator faults, and environmental disturbances. The emphasis or difficulty is how to ensure the trajectory tracking with specified accuracy in the fixed-time settings. A new-type fault-tolerant tracking control strategy is developed based on the marriage of a novel bounding function and a method of handling constraints. Compared with the existing results it can be noted that: first, the position error enters into a preassigned residual set in a priori designate time and remains there; second, no adaptive mechanisms, disturbance observers, or command filters are involved, leading to a simplicity control attribute. Results from a comparative simulation on the CyberShip II further illustrate the above theoretical findings.
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