Robust fixed-time trajectory tracking control of marine surface vessel with feedforward disturbance compensation
This paper proposes a novel robust fixed-time control approach for the trajectory tracking control of a fully actuated marine surface vessel (MSV) subject to system uncertainties and external disturbances. First, a nominal fixed-time controller is originally designed based on the bi-limit homogeneou...
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| Published in | International journal of systems science Vol. 53; no. 4; pp. 726 - 742 |
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| Main Author | |
| Format | Journal Article |
| Language | English |
| Published |
London
Taylor & Francis
12.03.2022
Taylor & Francis Ltd |
| Subjects | |
| Online Access | Get full text |
| ISSN | 0020-7721 1464-5319 |
| DOI | 10.1080/00207721.2021.1972354 |
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| Abstract | This paper proposes a novel robust fixed-time control approach for the trajectory tracking control of a fully actuated marine surface vessel (MSV) subject to system uncertainties and external disturbances. First, a nominal fixed-time controller is originally designed based on the bi-limit homogeneous method. The nominal fixed-time controller can guarantee the position and velocity tracking errors converge to zero in fixed time in the absence of lumped disturbance. Then, a new type of fixed-time disturbance observer is introduced to estimate the lumped disturbance in fixed time. Finally, a robust fixed-time controller is developed by integrating the nominal fixed-time controller with the fixed-time disturbance observer. The robust fixed-time controller can guarantee the position and velocity tracking errors converge to zero in fixed time even in the presence of lumped disturbance. Benefiting from the feedforward disturbance compensation, the robust fixed-time controller has the strong robustness and excellent disturbance attenuation capability. Numerical simulations and comparisons demonstrate the effectiveness and advantages of the proposed control approach. |
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| AbstractList | This paper proposes a novel robust fixed-time control approach for the trajectory tracking control of a fully actuated marine surface vessel (MSV) subject to system uncertainties and external disturbances. First, a nominal fixed-time controller is originally designed based on the bi-limit homogeneous method. The nominal fixed-time controller can guarantee the position and velocity tracking errors converge to zero in fixed time in the absence of lumped disturbance. Then, a new type of fixed-time disturbance observer is introduced to estimate the lumped disturbance in fixed time. Finally, a robust fixed-time controller is developed by integrating the nominal fixed-time controller with the fixed-time disturbance observer. The robust fixed-time controller can guarantee the position and velocity tracking errors converge to zero in fixed time even in the presence of lumped disturbance. Benefiting from the feedforward disturbance compensation, the robust fixed-time controller has the strong robustness and excellent disturbance attenuation capability. Numerical simulations and comparisons demonstrate the effectiveness and advantages of the proposed control approach. |
| Author | Yao, Qijia |
| Author_xml | – sequence: 1 givenname: Qijia orcidid: 0000-0001-7902-407X surname: Yao fullname: Yao, Qijia email: qijia_yao@126.com organization: Beijing Institute of Technology |
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| CitedBy_id | crossref_primary_10_1016_j_oceaneng_2024_119682 crossref_primary_10_1109_ACCESS_2022_3233440 crossref_primary_10_3390_jmse12050799 crossref_primary_10_1016_j_isatra_2025_01_045 crossref_primary_10_1002_rnc_6368 crossref_primary_10_1016_j_oceaneng_2023_115199 crossref_primary_10_1002_rob_22481 crossref_primary_10_1016_j_jfranklin_2023_11_030 crossref_primary_10_1109_TCSII_2023_3309400 crossref_primary_10_1177_01423312231157567 crossref_primary_10_1016_j_oceaneng_2023_115361 |
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| SubjectTerms | Attenuation Compensation Control systems design Controllers Convergence Disturbance observers Feedforward control fixed-time control fixed-time disturbance observer Marine surface vessel Robust control Sea vessels Tracking control Tracking errors Trajectory control trajectory tracking control |
| Title | Robust fixed-time trajectory tracking control of marine surface vessel with feedforward disturbance compensation |
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