Abstract
This paper develops a finite-time path following control scheme for an underactuated marine surface vessel (MSV) with external disturbances, model parametric uncertainties, position constraint and input saturation. Initially, based on the time-varying barrier Lyapunov function (BLF), the finite-time line-of-sight (FT-LOS) guidance law is proposed to obtain the desired yaw angle and simultaneously constrain the position error of the underactuated MSV. Furthermore, the finite-time path following constraint controllers are designed to achieve tracking control in finite time. Additionally, considering the model parametric uncertainties and external disturbances, the finite-time disturbance observers are proposed to estimate the compound disturbance. For the sake of avoiding the input saturation and satisfying the requirements of finite-time convergence, the finite-time input saturation compensators were designed. The stability analysis shows that the proposed finite-time path following control scheme can strictly guarantee the constraint requirements of the position, and all error signals of the whole control system can converge into a small neighborhood around zero in finite time. Finally, comparative simulation results show the effectiveness and superiority of the proposed finite-time path following control scheme.
Highlights
The marine surface vessel (MSV) mainly relies on the guidance system to perform the required control scheme, such as path following, target tracking and path tracking, in which the influences of wind, currents and waves on the ship, which are considered in [1,2,3,4]
For the problem of position error constraint and actuator saturation, in [14], a path-following controller based on the error-constrained line-of-sight (EC-LOS) guidance law was presented for an MSV
In [22], a fuzzy finite-time controller was proposed for the underactuated MSV, subject to external disturbances, parametric uncertainties, sideslip angle and actuator saturation in finite-time, but the position error constraint was not considered in the controller design
Summary
The marine surface vessel (MSV) mainly relies on the guidance system to perform the required control scheme, such as path following, target tracking and path tracking, in which the influences of wind, currents and waves on the ship, which are considered in [1,2,3,4]. For the problem of position error constraint and actuator saturation, in [14], a path-following controller based on the error-constrained line-of-sight (EC-LOS) guidance law was presented for an MSV. In [17], a control scheme was presented for the underactuated MSV, which considers the position error constraint, input saturation, external disturbance and model uncertainties, and time-varying sideslip. In [22], a fuzzy finite-time controller was proposed for the underactuated MSV, subject to external disturbances, parametric uncertainties, sideslip angle and actuator saturation in finite-time, but the position error constraint was not considered in the controller design. Based on the above observations, this paper presents a finite-time path following control scheme for the underactuated MSV under the conditions of position constraint, external disturbances, model parameter uncertainties, and actuator saturation.
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