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Prescribed performance dynamic surface control for trajectory-tracking of unmanned surface vessel with input saturation
Highlights The practical tracking control protocol is established based on a novel robust adaptive prescribed performance dynamic surface control for second-order nonlinear three-degree-of-freedom (3-DOF) fully actuated surface vessel system. This protocol greatly guarantees tracking errors to converge to a specified level with the aid of a simple non-logarithmic performance function. This protocol can effectively avoid the problem of input constraints. This protocol is strong robustness with unknown external disturbances. The synchronization errors and trajectory tracking errors can be guaranteed to converge to a tiny neighborhood near the origin within.
Abstract For realizing the trajectory tracking of unmanned surface vessel (USV) with unknown disturbances and input saturation, a robust adaptive prescribed performance dynamic surface control (PPDSC) scheme is proposed. Firstly, a simple non-logarithmic performance function is used to ensure that the tracking errors converges to a certain neighborhood of the origin. Secondly, owing to use the dynamic surface technique and introduce an auxiliary dynamic system (ADS), the double advantages are established, i.e., the negative effects of the differential operation for the intermediate control law and input saturation of the intermediate control law are avoided. Thirdly, a novel nonlinear disturbance observer (NDOB) is designed to estimate external disturbances and a feedforward compensation is produced for control amount. Finally, according to the Lyapunov stability theory, all signals are semi-globally uniformly ultimately bounded (SGUUB), and the trajectory can be maintained within the desired values with prescribed tracking performance. The effectiveness of the proposed control protocol is validated based on a 76.2 m supply fully actuated USV by the simulation results.
Prescribed performance dynamic surface control for trajectory-tracking of unmanned surface vessel with input saturation
Highlights The practical tracking control protocol is established based on a novel robust adaptive prescribed performance dynamic surface control for second-order nonlinear three-degree-of-freedom (3-DOF) fully actuated surface vessel system. This protocol greatly guarantees tracking errors to converge to a specified level with the aid of a simple non-logarithmic performance function. This protocol can effectively avoid the problem of input constraints. This protocol is strong robustness with unknown external disturbances. The synchronization errors and trajectory tracking errors can be guaranteed to converge to a tiny neighborhood near the origin within.
Abstract For realizing the trajectory tracking of unmanned surface vessel (USV) with unknown disturbances and input saturation, a robust adaptive prescribed performance dynamic surface control (PPDSC) scheme is proposed. Firstly, a simple non-logarithmic performance function is used to ensure that the tracking errors converges to a certain neighborhood of the origin. Secondly, owing to use the dynamic surface technique and introduce an auxiliary dynamic system (ADS), the double advantages are established, i.e., the negative effects of the differential operation for the intermediate control law and input saturation of the intermediate control law are avoided. Thirdly, a novel nonlinear disturbance observer (NDOB) is designed to estimate external disturbances and a feedforward compensation is produced for control amount. Finally, according to the Lyapunov stability theory, all signals are semi-globally uniformly ultimately bounded (SGUUB), and the trajectory can be maintained within the desired values with prescribed tracking performance. The effectiveness of the proposed control protocol is validated based on a 76.2 m supply fully actuated USV by the simulation results.
Prescribed performance dynamic surface control for trajectory-tracking of unmanned surface vessel with input saturation
Shen, Zhipeng (author) / Wang, Qun (author) / Dong, Sheng (author) / Yu, Haomiao (author)
Applied Ocean Research ; 113
2021-05-28
Article (Journal)
Electronic Resource
English
An improved NMPC-NDOB scheme for trajectory tracking of unmanned surface vessel
| SAGE Publications | 2022
| Elsevier | 2025