ID PW
 
* Join the Member of ICROS 
* Need your ID or Password?
 
 
 
Subject Keyword Abstract Author
 
 
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
International Journal of Control, Automation, and Systems, vol. 17, no. 6, pp.1331-1345, 2019

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.

Keyword : "Barrier Lyapunov function, fixed-time control, marine surface vehicle, trajectory tracking. "

 
Copyright ⓒ ICROS. All rights reserved.
Institute of Control, Robotics and Systems, Suseo Hyundai-Ventureville 723, Bamgogae-ro 1-gil 10, Gangnam-gu, Seoul 06349, Korea
Homepage http://eng.icros.org | Tel. +82-2-6949-5801 (ext. 3) | Fax. +82-2-6949-5807 | E-mail icros@icros.org