期刊
IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷 22, 期 6, 页码 2564-2575出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2017.2756110
关键词
Input saturation; path following; prescribed performance; surface vessel
类别
资金
- National Natural Science Foundation of China [61503010, 61673034]
- Aeronautical Science Foundation of China [2016ZA51001]
This paper presents a path following controller of a surface vessel with a prescribed performance in the presence of input saturation and external disturbances. Based on the three degrees-of-freedom model of the surface vessel, the designed backstepping control scheme features three functional parts, namely, guidance, attitude control, and velocity control. To guarantee that the position errors are confined within the prescribed convergence rates and maximum overshoot, a performance constrained guidance law is formulated with an error transformed function. Command filters are incorporated in the control subsections to limit the magnitude of the virtual controls and simultaneously avoid arduous computations involving their time derivatives. Subsequently, auxiliary systems that are governed by smooth switching functions are developed in an unprecedented manner to compensate for the saturation constraints on actuators. Nonlinear disturbance observers are concurrently introduced to estimate the unknown external disturbances for increasing system's robustness. It is demonstrated that under the proposed control, the prescribed transient and steady tracking performance bounds are never violated, and all closed-loop signals remain uniformly ultimately bounded, despite the presence of input saturation and disturbances. Results from a comparative simulation study illustrate the effectiveness and advantages of the proposed method.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据