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