Fixed-time trajectory tracking control for underactuated surface vessels
ObjectivesThis study proposes a fixed-time trajectory tracking control strategy to address the challenges of unmodeled dynamics and external disturbances in underactuated unmanned surface vessels (USVs).MethodsFirst, the tracking error system is divided into two channels for controller design throug...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Editorial Office of Chinese Journal of Ship Research
2024-01-01
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| Series: | Zhongguo Jianchuan Yanjiu |
| Subjects: | |
| Online Access: | http://www.ship-research.com/en/article/doi/10.19693/j.issn.1673-3185.03088 |
| _version_ | 1827375461487869952 |
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| author | Weikai WANG Hang SU Enhua ZHANG |
| author_facet | Weikai WANG Hang SU Enhua ZHANG |
| author_sort | Weikai WANG |
| collection | DOAJ |
| description | ObjectivesThis study proposes a fixed-time trajectory tracking control strategy to address the challenges of unmodeled dynamics and external disturbances in underactuated unmanned surface vessels (USVs).MethodsFirst, the tracking error system is divided into two channels for controller design through model transformation. Next, in order to accommodate unknown system dynamics and external disturbances, a minimum-learning-parameter-based neural network is adopted to compensate for uncertainties. After that, a fixed-time sliding mode controller is proposed with the application of a hyperbolic tangent function to ensure the fast convergence of tracking errors.ResultsThe numerical simulation results show that fixed-time convergence for tracking errors can be guaranteed independent of the initial state.ConclusionsThe designed control scheme not only features the effective estimation of uncertainties within the system, but also demonstrates a robust disturbance rejection capability, providing valuable insights for the fixed-time control of USVs. |
| first_indexed | 2024-03-08T11:51:12Z |
| format | Article |
| id | doaj.art-3d137d0f3ba44749b70404989b090826 |
| institution | Directory Open Access Journal |
| issn | 1673-3185 |
| language | English |
| last_indexed | 2024-03-08T11:51:12Z |
| publishDate | 2024-01-01 |
| publisher | Editorial Office of Chinese Journal of Ship Research |
| record_format | Article |
| series | Zhongguo Jianchuan Yanjiu |
| spelling | doaj.art-3d137d0f3ba44749b70404989b0908262024-01-24T09:49:54ZengEditorial Office of Chinese Journal of Ship ResearchZhongguo Jianchuan Yanjiu1673-31852024-01-0119Supp1101710.19693/j.issn.1673-3185.03088ZG3088Fixed-time trajectory tracking control for underactuated surface vesselsWeikai WANG0Hang SU1Enhua ZHANG2National Laboratory of Science and Technology on Underwater Vehicle, Harbin Engineering University, Harbin 150001, ChinaCollege of Electronics and Information Engineering, Shenzhen University, Shenzhen 518060, ChinaNational Laboratory of Science and Technology on Underwater Vehicle, Harbin Engineering University, Harbin 150001, ChinaObjectivesThis study proposes a fixed-time trajectory tracking control strategy to address the challenges of unmodeled dynamics and external disturbances in underactuated unmanned surface vessels (USVs).MethodsFirst, the tracking error system is divided into two channels for controller design through model transformation. Next, in order to accommodate unknown system dynamics and external disturbances, a minimum-learning-parameter-based neural network is adopted to compensate for uncertainties. After that, a fixed-time sliding mode controller is proposed with the application of a hyperbolic tangent function to ensure the fast convergence of tracking errors.ResultsThe numerical simulation results show that fixed-time convergence for tracking errors can be guaranteed independent of the initial state.ConclusionsThe designed control scheme not only features the effective estimation of uncertainties within the system, but also demonstrates a robust disturbance rejection capability, providing valuable insights for the fixed-time control of USVs.http://www.ship-research.com/en/article/doi/10.19693/j.issn.1673-3185.03088underactuated surface unmanned vesselsfix-timed controlunknow disturbancesliding mode controlminimum-learning-parameter (mlp) |
| spellingShingle | Weikai WANG Hang SU Enhua ZHANG Fixed-time trajectory tracking control for underactuated surface vessels Zhongguo Jianchuan Yanjiu underactuated surface unmanned vessels fix-timed control unknow disturbance sliding mode control minimum-learning-parameter (mlp) |
| title | Fixed-time trajectory tracking control for underactuated surface vessels |
| title_full | Fixed-time trajectory tracking control for underactuated surface vessels |
| title_fullStr | Fixed-time trajectory tracking control for underactuated surface vessels |
| title_full_unstemmed | Fixed-time trajectory tracking control for underactuated surface vessels |
| title_short | Fixed-time trajectory tracking control for underactuated surface vessels |
| title_sort | fixed time trajectory tracking control for underactuated surface vessels |
| topic | underactuated surface unmanned vessels fix-timed control unknow disturbance sliding mode control minimum-learning-parameter (mlp) |
| url | http://www.ship-research.com/en/article/doi/10.19693/j.issn.1673-3185.03088 |
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