Adaptive finite-time event-triggered control of marine surface vehicles with prescribed performance and output constraints

2021 ◽  
Vol 238 ◽  
pp. 109712
Author(s):  
Mingyu Fu ◽  
Lulu Wang
Keyword(s):  
Finite Time ◽  
Prescribed Performance ◽  
Marine Surface Vehicles ◽  
Output Constraints ◽  
Marine Surface ◽  
Event Triggered

scholarly journals Prescribed Performance Control of Marine Surface Vessel Trajectory Tracking in Finite-Time with Full-State Constraints and Input Saturation

2021 ◽  
Vol 9 (8) ◽  
pp. 866
Author(s):  
Xiyun Jiang ◽  
Yuanhui Wang
Keyword(s):  
Finite Time ◽  
State Constraints ◽  
Tracking Error ◽  
Input Saturation ◽  
Prescribed Performance ◽  
Full State ◽  
Marine Surface ◽  
Surface Vessel ◽  
Full State Constraints ◽  
Function Matrix

This manuscript mainly solves a fully actuated marine surface vessel prescribed performance trajectory tracking control problem with full-state constraints and input saturation. The entire control design process is based on a backstepping technique. The prescribed performance control is introduced to embody the analytical relationship between the transient performance and steady-state performance of the system and the parameters. Meanwhile, a new finite time performance function is introduced to ensure that the performance of the system tracking error is constrained within the preset constraints in finite time, and the full-state constraints problem of the system can be solved simultaneously in the entire control design, at the same time without introducing additional theory and parameters. To solve the non-smooth input saturation function matrix is not differentiable, the smooth function matrix is introduced to replace the non-smooth characteristics. Combining the Moore-Penrose generalized inverse matrix to design the virtual control law, the dynamic surface control is introduced to avoid the complicated virtual control derivation process, and finally the actual control law is designed using the properties of Nussbaum function. In addition, in view of the uncertainties in the system, a fractional disturbance observer is designed to estimate it. With the proposed control, the full-state will never be violated constraints, and the system tracking error satisfies transient and steady-state performance. Compared with other methods, the simulation results show the effectiveness and advantages of the proposed method.

scholarly journals Adaptive Platoon Control for Marine Surface Vehicles in the Presence of Constraints

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-10
Author(s):  
Xiaoling Liang ◽  
Duansong Wang
Keyword(s):  
Formation Control ◽  
External Disturbance ◽  
Input Saturation ◽  
Neural Network Controller ◽  
Network Controller ◽  
Marine Surface Vehicles ◽  
Output Constraints ◽  
Marine Surface ◽  
Marine Vehicle ◽  
Theoretical Results

This paper presents the platoon formation control design for unmanned surface vehicles with input and output constraints. First, Barrier Lyapunov Function (BLF) is employed to ensure the desired line-of-sight (LOS) range. The LOS range should be maintained within the predefined regions between each marine vehicle and its predecessor while the connected platoons track the trajectory. Next, to handle the model uncertainties and unknown external disturbance, we propose an adaptive neural network controller that approximates the unknown nonlinearities. Furthermore, the Nussbaum function is applied to compensate for input saturations. In addition, formation errors can be guaranteed by stability analysis. The distance between two consecutive agents does not violate collision avoidance and connectivity in the presence of input saturation. Finally, the feasibility of the theoretical results is illustrated through the simulation results.

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