Trajectory Tracking Control of Surface Vehicles: A Prescribed Performance Fixed-Time Control Approach

IEEE Access

Jiaju Yu¹  Tingting Yang²  Zuxin Li² 

[1] College of Science and Information, Qingdao Agricultural University, Qingdao, China;School of Engineering, Huzhou University, Huzhou, China;

关键词: Surface vehicles;    prescribed performance;    fixed-time observer;    sliding mode control;   

DOI  :  10.1109/ACCESS.2020.3039876

来源: DOAJ

【 摘 要 】

This article focuses on the fixed-time trajectory tracking problem for surface vehicles (SVs) with prescribed performance. First, to realize prescribed performance, the error transformation and fixed-time prescribed performance function are proposed. In this way, the constrained tracking error problem can be solved by the stabilization of the transformed system. Second, by introducing a reduced-order disturbance observer, a fixed-time sliding mode controller is developed to realize trajectory tracking control while satisfying both predefined performance and perturbance rejection. It notices that the associated settling time can be preselected by parameters and independent of system initial conditions. Finally, some simulation examples are provided to illustrate the effectiveness of our theoretical results.

【 授权许可】

Unknown