Robust practical prescribed time trajectory tracking of USV with guaranteed performance

Abstract

In this paper, a practical prescribed time tracking control scheme is proposed to drive the unmanned surface vehicle (USV) under input saturation and unknown disturbances to track the desired trajectory with guaranteed transient and steady-state performances. First, by employing the logarithmic type barrier Lyapunov function and prescribed time function, the virtual velocity law is designed at the kinematic level. Then, to deal with the unknown disturbances, a prescribed time observer is constructed to achieve perturbation attenuation in a user-defined time. Together with the linear anti-windup compensator, a robust trajectory tracking controller is constructed, which is capable of guaranteeing that all signals in the closed-loop system are uniformly ultimately bounded (UUB) and the tracking error converges to a user-defined compact set in predetermined time with prescribed transient performance. Finally, the effectiveness of the proposed control scheme is validated through Lyapunov theory and numerical studies.