期刊
ISA TRANSACTIONS
卷 132, 期 -, 页码 267-277出版社
ELSEVIER SCIENCE INC
DOI: 10.1016/j.isatra.2022.06.011
关键词
Unmanned surface vehicle; Trajectory tracking; Fixed -time differentiator; FTSMC; FESO
This paper addresses the trajectory tracking problem of unmanned surface vehicles in the presence of unmeasurable velocities and unknown disturbances. A fixed-time sliding mode control law is proposed by combining a fixed-time extended state observer and a fixed-time differentiator. The value of this paper lies in the design of a novel guidance law that converges in a fixed time, the estimation of unmeasurable velocities and lumped disturbances using a fixed-time extended state observer, and the use of a fixed-time differentiator to obtain real-time differential signals.
This paper studies the trajectory tracking problem of unmanned surface vehicle subject to unmeasurable velocities and unknown disturbances. By combining a fixed-time extended state observer (FESO) and a fixed-time differentiator, a fixed-time sliding mode control (FTSMC) law is proposed, in which a saturation function is adopted to make the terminal sliding mode surface leave the singularity area. The value of this paper can be described: first, this paper designs a novel guidance law that can converge in a fixed time to reduce the convergence time of the error. Then, unmeasurable velocities and lumped disturbances are estimated by applying a FESO. Meanwhile, a fixed-time differentiator is used to obtain real-time differential signals, thus reducing the difficulty of controller design. Subsequently, a novel auxiliary dynamic system is designed to address actuator saturation. According to Lyapunov's theory, the entire closed-loop control system has uniformly global fixed-time stability (UGFTS). The superiority of the designed controller is demonstrated through numerical simulations. (c) 2022 ISA. Published by Elsevier Ltd. All rights reserved.
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