Fixed-Time Prescribed Performance Adaptive Trajectory Tracking Control for a QUAV

2021 ◽  
pp. 1-1
Author(s):  
Guozeng Cui ◽  
Wei Yang ◽  
Jinpeng Yu ◽  
Ze Li ◽  
Chongben Tao
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Fixed Time ◽  
Trajectory Tracking Control ◽  
Prescribed Performance

Prescribed performance trajectory tracking control of dynamic positioning ship under input saturation

2020 ◽  
pp. 014233122092888
Author(s):  
Yuanhui Wang ◽  
Haibin Wang ◽  
Mingyu Fu
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Degrees Of Freedom ◽  
Input Saturation ◽  
Small Neighborhood ◽  
Performance Criteria ◽  
Dynamic Positioning ◽  
Trajectory Tracking Control ◽  
Prescribed Performance ◽  
Control Scheme

This paper investigates concentrates on the trajectory tracking control problem of dynamic positioning (DP) ship, in the presence of the time-varying disturbance and input saturation. Firstly, a simplified mathematical model of three degrees of freedom is established. According to the characteristics of the DP ship, an adaptive backstepping controller which combine the prescribed performance function with disturbance observer is proposed. The control scheme can guarantee the transient and steady state performance of the trajectory tracking and meet the prescribed performance criteria. In addition, an auxiliary dynamic system is introduced into the controller to deal with the input saturation problem of the actuator, so that the DP ship can accomplish the task of trajectory tracking under the condition of actuator constraint. Subsequently, in combination of barrier Lyapunov function (BLF), it is proved that the DP system can stabilize and converge rapidly to the small neighborhood of the equilibrium point, which can achieve the prescribed performance. Finally, the effectiveness of the DP control law is demonstrated by a series of simulation experiments.

Fixed-time trajectory tracking control for multiple nonholonomic mobile robots

2020 ◽  
pp. 014233122096641
Author(s):  
Meiying Ou ◽  
Haibin Sun ◽  
Zhenxing Zhang ◽  
Lingchun Li
Keyword(s):  
Mobile Robots ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Initial Conditions ◽  
Fixed Time ◽  
Nonholonomic Mobile Robots ◽  
Trajectory Tracking Control ◽  
Adding A Power Integrator ◽  
Time Control ◽  
Power Integrator

This paper investigates the fixed-time trajectory tracking control for a group of nonholonomic mobile robots, where the desired trajectory is generated by a virtual leader, the leader’s information is available to only a subset of the followers, and the followers are assumed to have only local interaction. According to fixed-time control theory and adding a power integrator technique, distributed fixed-time tracking controllers are developed for each robot such that all states of each robot can reach the desired value in a fixed time. Moreover, the settling time is independent of the system initial conditions and only determined by the controller parameters. Simulation results illustrate and verify the effectiveness of the proposed schemes.

scholarly journals Trajectory Tracking Control for Underactuated USV with Prescribed Performance and Input Quantization

Symmetry ◽  
2021 ◽  
Vol 13 (11) ◽  
pp. 2208
Author(s):  
Kunyi Jiang ◽  
Lei Mao ◽  
Yumin Su ◽  
Yuxin Zheng
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Mapping Function ◽  
Trajectory Tracking Control ◽  
Prescribed Performance ◽  
Input Quantization ◽  
Performance Requirements ◽  
Radial Basis Neural Networks ◽  
Surface Vessels ◽  
Error Dynamics

This paper is devoted to the problem of prescribed performance trajectory tracking control for symmetrical underactuated unmanned surface vessels (USVs) in the presence of model uncertainties and input quantization. By combining backstepping filter mechanisms and adaptive algorithms, two robust control architectures are investigated for surge motion and yaw motion. To guarantee the prespecified performance requirements for position tracking control, the constrained error dynamics are transformed to unconstrained ones by virtue of a tangent-type nonlinear mapping function. On the other hand, the inaccurate model can be identified through radial basis neural networks (RBFNNs), where the minimum learning parameter (MLP) algorithm is employed with a low computational complexity. Furthermore, quantization errors can be effectively reduced even when the parameters of the quantizer remain unavailable to designers. Finally, the effectiveness of the proposed controllers is verified via theoretical analyses and numerical simulations.

scholarly journals Fixed-Time Trajectory Tracking Control of Autonomous Surface Vehicle with Model Uncertainties and Disturbances

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-10
Author(s):  
Jiawen Cui ◽  
Haibin Sun
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
Fixed Time ◽  
Convergence Time ◽  
Model Uncertainties ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Integral Sliding Mode ◽  
Control Scheme

The issue of fixed-time trajectory tracking control for the autonomous surface vehicles (ASVs) system with model uncertainties and external disturbances is investigated in this paper. Particularly, convergence time does not depend on initial conditions. The major contributions include the following: (1) An integral sliding mode controller (ISMC) via integral sliding mode surface is first proposed, which can ensure that the system states can follow the desired trajectory within a fixed time. (2) Unknown external disturbances are absolutely estimated by means of designing a fixed-time disturbance observer (FTDO). By combining the FTDO and ISMC techniques, a new control scheme (FTDO-ISMC) is developed, which can achieve both disturbance compensation and chattering-free condition. (3) Aiming at reconstructing the unknown nonlinear dynamics and external disturbances, a fixed-time unknown observer (FTUO) is proposed, thus providing the FTUO-ISMC scheme that finally achieves trajectory tracking of ASVs with unknown parameters. Finally, simulation tests and detailed comparisons indicate the effectiveness of the proposed control scheme.

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