Abstract
ABSTRACT This paper presents a cascaded safety trajectory tracking control scheme for hovercraft, addressing dump disturbances with a novel double-loop strategy that enforces prescribed performance and state constraints. Initially, an Adaptive Prescribed-Time Extended State Observer (APESO) is meticulously crafted to estimate lumped disturbances accurately. Subsequent to this, virtual velocity control laws are established through Double Power Appointed-Time Performance Function (DPATPF) combined with an Asymmetric Barrier Lyapunov Function (ABLF), streamlining the position error into a more manageable, equivalent unconstrained control system format. To effectively manage velocity safety constraints, a Unified Barrier Function (UBF) is introduced, ensuring that hovercraft velocities adhere to asymmetric safety boundary. The entire system state is rigorously ultimately uniformly bounded, in strict compliance with cascade control theories and Lyapunov stability criteria. Through simulation, we demonstrate the superior performance and effectiveness of the proposed control strategy, showcasing its potential for enhancing hovercraft navigational safety and reliability.
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