Robust trajectory tracking control of underactuated surface vehicles with prescribed performance

• Autorzy: Wang Shasha , Tuo Yulong

Identyfikatory

DOI

10.2478/pomr-2020-0075

• Języki publikacji: EN

Abstrakty

EN

In this paper, a robust sliding mode tracking controller with prescribed performance is developed for an underactuated surface vehicle (USV) with time-varying external disturbances. Firstly, to guarantee the transient and steadystate performance of the closed-loop system, the error transformation technique is presented. Further, the design of the prescribed performance function implements predefined tracking performance constraints, which eliminate the requirement for prior knowledge about the initial errors. Then, a Lyapunov stability synthesis shows that all closed-loop signals remain bounded and the tracking errors remain strictly within the predefined bounds. Finally, simulations and a comparative study are performed to illustrate the robustness and effectiveness of the proposed robust sliding mode control scheme.

Słowa kluczowe

EN

robust sliding mode control; prescribed performance; guaranteed transient performance; trajectory tracking; underactuated surface vehicle

• Wydawca: Gdańsk University of Technology, Faculty of Ocean Engineering & Ship Technology
• Czasopismo: Polish Maritime Research
• Rocznik: 2020
• Tom: nr 4
• Strony: 148--156
• Opis fizyczny: Bibliogr. 24 poz., rys., tab.

Twórcy

autor

Wang Shasha

• Dalian Maritime University, LENGHAI RODE, 116026 DALIAN, China

autor

Tuo Yulong

Bibliografia

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2021).