期刊
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
卷 24, 期 4, 页码 1454-1462出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2015.2496585
关键词
Adaptive robust control; finite-time control; finite-time disturbance observer (FTDO); marine surface vehicle (MSV); trajectory tracking
资金
- National Natural Science Foundation of China [51009017, 51379002, 51479018]
- Applied Basic Research Funds through the Ministry of Transport, China [2012-329-225-060]
- Program for Liaoning Excellent Talents in University [LJQ2013055]
- Fundamental Research Funds for the Central Universities of China [2009QN025, 2011JC002, 3132013025, 3132014206]
In this brief, an adaptive robust finite-time tracking control (ARFTTC) scheme for trajectory tracking of a fully actuated marine surface vehicle with unknown disturbances is proposed. A new finite-time disturbance observer is incorporated into the proposed finite-time tracking control (FTTC) structure that facilitates faster convergence and better robustness to disturbances. Hence, in the presence of unknown disturbances, the ARFTTC can cause tracking error to converge to zero in a finite time. Simulation studies and comprehensive comparisons with conventional backstepping technique demonstrate remarkable performance and superiority of the ARFTTC in terms of both tracking accuracy and robustness.
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