期刊
OCEAN ENGINEERING
卷 145, 期 -, 页码 406-415出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2017.09.062
关键词
Accurate tracking control; Finite-time stability; Finite-time unknown observer; Marine vehicle; Nonsingular terminal sliding mode
资金
- National Natural Science Foundation of P. R. China [51009017, 51379002, 61473183, U1509211]
- Fund for Dalian Distinguished Young Scholars [2016RJ10]
- Innovation Support Plan for Dalian High-level Talents [2015R065]
- Program of Shanghai Subject Chief Scientist [14XD1402400]
- Fundamental Research Funds for the Central Universities [3132016314]
In this paper, a finite-time observer based accurate tracking control (FO-ATC) scheme is addressed for trajectory tracking of a marine vehicle (MV) with complex unknowns including tuunodeled dynamics and disturbances. Main contributions are as follows: (1) An accurate tracking control (ATC) scheme is first proposed for a nominal MV tracking system with known dynamics, such that global finite-time stability of can be ensured to achieve fast convergence and precise tracking performance; (2) To exactly attenuate external disturbances, a finite-time disturbance observer (DO) is incorporated into the ATC framework, and establishes the DO-based ATC (DO-ATC) scheme which therefore produces strong disturbance rejection in addition to accurate trajectory tracking; (3) Aiming to precisely identify completely unknown dynamics together with external disturbances, simultaneously, a finite-time unknown observer (UO) is further created within the ATC approach, and thereby contributing to the UO-based ATC (UO-ATC) scheme which eventually achieves accurate trajectory tracking of an MV with fully unlatown dynamics under harsh marine environment. Simulation studies and comprehensive comparisons are exhaustively provided to demonstrate the effectiveness and superiority of the proposed ATC schemes.
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