Regular Papers

International Journal of Control, Automation and Systems 2019; 17(6): 1331-1345

Published online May 30, 2019

https://doi.org/10.1007/s12555-018-0741-2

© The International Journal of Control, Automation, and Systems

Fixed-time Trajectory Tracking Control of a Full State Constrained Marine Surface Vehicle with Model Uncertainties and External Disturbances

Mingyu Fu, Taiqi Wang*, and Chenglong Wang

Harbin Engineering University

Abstract

This paper addresses the fixed-time trajectory tracking control problem of a fully actuated marine surface vehicle with full state constraints and system uncertainties. Acontinuous fixed- time convergence tracking controller is proposed based on fixed-time control and adding a power integrator methods,which achieves system stabilization within a finite time independent of system initial conditions. Moreover, a novel barrier Lyapunov function with a power integrator is designed to ensure the full state tracking error within the constraints. To accurately estimate the lumped disturbances of the vehicle system, a fixed-time disturbance observer is designed to guarantee the settling time of the disturbance observer bounded by a time constant independent of initial estimation errors. Finally, the proposed control scheme is proved to be fixed-time stable via fixed-time Lyapunov stability theorem and the full state constraints can never be violated. A numerical simulation is provided to illustrate the effectiveness and superiority of the proposed control scheme.

Keywords Barrier Lyapunov function, fixed-time control, marine surface vehicle, trajectory tracking.

Article

Regular Papers

International Journal of Control, Automation and Systems 2019; 17(6): 1331-1345

Published online June 1, 2019 https://doi.org/10.1007/s12555-018-0741-2

Copyright © The International Journal of Control, Automation, and Systems.

Fixed-time Trajectory Tracking Control of a Full State Constrained Marine Surface Vehicle with Model Uncertainties and External Disturbances

Mingyu Fu, Taiqi Wang*, and Chenglong Wang

Harbin Engineering University

Abstract

This paper addresses the fixed-time trajectory tracking control problem of a fully actuated marine surface vehicle with full state constraints and system uncertainties. Acontinuous fixed- time convergence tracking controller is proposed based on fixed-time control and adding a power integrator methods,which achieves system stabilization within a finite time independent of system initial conditions. Moreover, a novel barrier Lyapunov function with a power integrator is designed to ensure the full state tracking error within the constraints. To accurately estimate the lumped disturbances of the vehicle system, a fixed-time disturbance observer is designed to guarantee the settling time of the disturbance observer bounded by a time constant independent of initial estimation errors. Finally, the proposed control scheme is proved to be fixed-time stable via fixed-time Lyapunov stability theorem and the full state constraints can never be violated. A numerical simulation is provided to illustrate the effectiveness and superiority of the proposed control scheme.

Keywords: Barrier Lyapunov function, fi,xed-time control, marine surface vehicle, trajectory tracking.

IJCAS
May 2024

Vol. 22, No. 5, pp. 1461~1759

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