College of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China.
ISA Trans. 2019 Oct;93:145-155. doi: 10.1016/j.isatra.2019.03.007. Epub 2019 Mar 11.
This paper proposes a novel fixed-time output feedback control scheme for trajectory tracking of marine surface vessels (MSVs) subject to unknown external disturbances and uncertainties. A fixed-time extended state observer (FESO) is proposed to estimate unknown lumped disturbances and unmeasured velocities, and the observation errors will converge to zero in fixed time. Based on the estimated values, a novel fixed-time trajectory tracking controller is designed for an MSV to track a time-varying reference trajectory by the extension of an adding a power integrator (API), and the tracking errors can converge to zero in fixed time as well. Additionally, the convergence time of the controller and the FESO is independent of initial state values. Finally, simulation results and comparisons illustrate the superiority of the proposed control scheme.
本文提出了一种新的固定时间输出反馈控制方案，用于船舶在存在未知外部干扰和不确定性的情况下的轨迹跟踪。提出了一种固定时间扩张状态观测器（FESO）来估计未知的集中干扰和未测量的速度，观测误差将在固定时间内收敛到零。基于估计值，通过扩展一个加幂积分器（API），为船舶设计了一种新的固定时间轨迹跟踪控制器，以跟踪时变参考轨迹，跟踪误差也可以在固定时间内收敛到零。此外，控制器和 FESO 的收敛时间与初始状态值无关。最后，仿真结果和比较说明了所提出的控制方案的优越性。
