Abstract
This paper develops an adaptive fixed-time trajectory tracking controller of an underactuated hovercraft with a prescribed performance in the presence of model uncertainties and unknown time-varying environment disturbances. It is the first time that the proposed method is applied to the motion control of the hovercraft. To begin with, based on the hovercraft's four degrees of freedom (DOF) model, the virtual control laws are designed using an error transforming function and the fixed-time stability theory to guarantee that the position tracking errors are constrained within the prescribed convergence rates and minimum overshoot. In addition, by combining the Lyapunov direct method and the adaptive radial basis function neural network (ARBFNN), the actual control laws are designed to ensure that the velocity tracking errors converge to a small region containing zero while handling model uncertainties and external disturbances effectively. Finally, all tracking errors of the closed-loop system are uniformly ultimately bounded and fixed-time convergent. Results from a comparative simulation study verify the effectiveness and advantage of the proposed method.
Highlights
In [6], an adaptive fuzzy stabilization control method was proposed to carry out trajectory tracking control of the underactuated surface vessel in the presence of unknown time-varying environment disturbances
A new prescribed performance control approach utilizing transformed errors instead of initial tracking errors is proposed for uncertain nonlinear dynamic systems in [22]
Design of the Desired Angular Velocity in Yaw. e hovercraft is a kind of typical underactuated surface vessel because its lateral axis is not directly actuated. us, the virtual control law is designed to stabilize the sway velocity tracking error
Summary
In [6], an adaptive fuzzy stabilization control method was proposed to carry out trajectory tracking control of the underactuated surface vessel in the presence of unknown time-varying environment disturbances. A robust adaptive controller was presented to perform the motion control of the underactuated ship with prescribed performance in the presence of model uncertainties and external disturbances [24]. Inspired by the abovementioned observations, a nonlinear trajectory tracking control method for an underactuated hovercraft is presented that ensures a prescribed performance, specifies the system convergence time, and handles the system uncertainties. Incorporating the prescribed performance and specified system convergence time simultaneously in the trajectory tracking control design of the underactuated hovercraft has been unprecedented. The main contributions of this paper are summarized as follows:
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