Finite-Time Trajectory Tracking for Marine Vessel by Nonsingular Backstepping Controller With Unknown External Disturbance

IEEE Access

Yong Dai¹  Ying Zhao¹  Chenglong Yang¹  Shuanghe Yu¹  Yongbo Mao² 

[1] College of Marine Electrical Engineering, Dalian Maritime University, Dalian, China;SWJTU-Leeds Joint School, Southwest Jiaotong University, Xipu Campus, Chengdu, China;

关键词: Finite-time command filter;    disturbance observer (DO);    nonsingular finite-time backstepping controller;    marine vessel;    trajectory tracking;   

DOI  :  10.1109/ACCESS.2019.2949416

来源: DOAJ

【 摘 要 】

In this paper, a novel nonsingular finite-time backstepping controller is constructed for trajectory tracking of marine vessel subject to unknown external disturbances. Firstly, in the presence of disturbances, a disturbance observer (DO) is proposed to estimate and compensate the disturbances exactly in finite time. Secondly, a finite-time tracking controller is designed in the classical backstepping procedure, however, the inevitable singularity appears in calculating the derivative of virtual control. Furthermore, for overcoming this singularity, a nonsingular finite-time backstepping controller is designed by adopting a finite-time command filter to estimate the derivative, instead of calculating it directly. Theoretical analysis demonstrates the closed-loop system is finite-time stable. Finally, simulation results and comparisons illustrate the effectiveness of the proposed method.

【 授权许可】

Unknown