Finite-Time Trajectory Tracking Control of MSV With Prescribed Transient Performance

Abstract

This paper addresses the finite-time trajectory tracking control problem of autonomous marine surface vessel (MSV) under the predefined asymmetric tracking error constraints. In order to quantify the transient performances of the output tracking errors, the output tracking errors are required to satisfy the prescribed asymmetric tracking error constraints, where the tracking error constraints are chosen as exponentially decaying functions of time. Subsequently, the prescribed performance control (PPC) methodology is employed to guarantee the satisfaction of the prescribed asymmetric tracking error constraints. In addition to achievement of the predefined transient performances, the prescribed steady-state performances of the tracking errors are also guaranteed by incorporating the finite-time control scheme into the control design. Based on backstepping procedure, PPC methodology and finite-time control scheme, a prescribed-performance-based controller is designed to guarantee that the tracking errors converge exponentially to a small neighborhood around zero in finite settling time with guaranteed prescribed transient performance. The effectiveness of the proposed controller is demonstrated by the simulation results.