Adaptive on-Line Approximator-Based Finite-Time Trajectory Tracking Control for the Surface Vessel
An adaptive on-line approximator-based finite-time trajectory tracking scheme is proposed to solve the problem of trajectory tracking of underactuated surface vessel affected by dynamic uncertainties and external disturbances. In this scheme, underactuated transformation is performed by using kinema...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2022-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/9904573/ |
| _version_ | 1798020342014279680 |
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| author | Yan Zhang Wenyi Tan Xiangfei Meng Qiang Zhang Yancai Hu |
| author_facet | Yan Zhang Wenyi Tan Xiangfei Meng Qiang Zhang Yancai Hu |
| author_sort | Yan Zhang |
| collection | DOAJ |
| description | An adaptive on-line approximator-based finite-time trajectory tracking scheme is proposed to solve the problem of trajectory tracking of underactuated surface vessel affected by dynamic uncertainties and external disturbances. In this scheme, underactuated transformation is performed by using kinematic virtual control law transformation and bounded constraint. By designing adaptive on-line approximator to approach the upper bound of uncertainty and unknown disturbance, the problem of parameter uncertainty and external disturbance are solved. It is proven by Lyapunov theory that the error signals in the system can converge quickly to the stable region in finite time. Finally, by comparing the simulation results, it is verified that the proposed control scheme can make the underactuated ship track the desired trajectory in finite time. Compared to the traditional control method, the convergence rate of the system error is faster, and it exhibits strong robustness in the face of unknown external disturbances. This has a certain reference value for practical engineering applications. |
| first_indexed | 2024-04-11T16:56:04Z |
| format | Article |
| id | doaj.art-d9b6ee95b69d493f985b1ba60ee82389 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-11T16:56:04Z |
| publishDate | 2022-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-d9b6ee95b69d493f985b1ba60ee823892022-12-22T04:13:16ZengIEEEIEEE Access2169-35362022-01-011010428510429410.1109/ACCESS.2022.32103459904573Adaptive on-Line Approximator-Based Finite-Time Trajectory Tracking Control for the Surface VesselYan Zhang0https://orcid.org/0000-0001-5713-7559Wenyi Tan1https://orcid.org/0000-0002-0721-5499Xiangfei Meng2Qiang Zhang3https://orcid.org/0000-0001-6765-930XYancai Hu4https://orcid.org/0000-0002-2215-3337School of Navigation and Shipping, Shandong Jiaotong University, Weihai, ChinaSchool of Navigation and Shipping, Shandong Jiaotong University, Weihai, ChinaSchool of Navigation and Shipping, Shandong Jiaotong University, Weihai, ChinaSchool of Navigation and Shipping, Shandong Jiaotong University, Weihai, ChinaSchool of Navigation and Shipping, Shandong Jiaotong University, Weihai, ChinaAn adaptive on-line approximator-based finite-time trajectory tracking scheme is proposed to solve the problem of trajectory tracking of underactuated surface vessel affected by dynamic uncertainties and external disturbances. In this scheme, underactuated transformation is performed by using kinematic virtual control law transformation and bounded constraint. By designing adaptive on-line approximator to approach the upper bound of uncertainty and unknown disturbance, the problem of parameter uncertainty and external disturbance are solved. It is proven by Lyapunov theory that the error signals in the system can converge quickly to the stable region in finite time. Finally, by comparing the simulation results, it is verified that the proposed control scheme can make the underactuated ship track the desired trajectory in finite time. Compared to the traditional control method, the convergence rate of the system error is faster, and it exhibits strong robustness in the face of unknown external disturbances. This has a certain reference value for practical engineering applications.https://ieeexplore.ieee.org/document/9904573/Trajectory tracking controlunderactuated vesseluncertain disturbancefinite timeadaptive on-line approximator |
| spellingShingle | Yan Zhang Wenyi Tan Xiangfei Meng Qiang Zhang Yancai Hu Adaptive on-Line Approximator-Based Finite-Time Trajectory Tracking Control for the Surface Vessel IEEE Access Trajectory tracking control underactuated vessel uncertain disturbance finite time adaptive on-line approximator |
| title | Adaptive on-Line Approximator-Based Finite-Time Trajectory Tracking Control for the Surface Vessel |
| title_full | Adaptive on-Line Approximator-Based Finite-Time Trajectory Tracking Control for the Surface Vessel |
| title_fullStr | Adaptive on-Line Approximator-Based Finite-Time Trajectory Tracking Control for the Surface Vessel |
| title_full_unstemmed | Adaptive on-Line Approximator-Based Finite-Time Trajectory Tracking Control for the Surface Vessel |
| title_short | Adaptive on-Line Approximator-Based Finite-Time Trajectory Tracking Control for the Surface Vessel |
| title_sort | adaptive on line approximator based finite time trajectory tracking control for the surface vessel |
| topic | Trajectory tracking control underactuated vessel uncertain disturbance finite time adaptive on-line approximator |
| url | https://ieeexplore.ieee.org/document/9904573/ |
| work_keys_str_mv | AT yanzhang adaptiveonlineapproximatorbasedfinitetimetrajectorytrackingcontrolforthesurfacevessel AT wenyitan adaptiveonlineapproximatorbasedfinitetimetrajectorytrackingcontrolforthesurfacevessel AT xiangfeimeng adaptiveonlineapproximatorbasedfinitetimetrajectorytrackingcontrolforthesurfacevessel AT qiangzhang adaptiveonlineapproximatorbasedfinitetimetrajectorytrackingcontrolforthesurfacevessel AT yancaihu adaptiveonlineapproximatorbasedfinitetimetrajectorytrackingcontrolforthesurfacevessel |