Wan Lei, Cao Yu, Sun Yanchao, Qin Hongde
Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, 150001, China.
ISA Trans. 2022 Nov;130:79-91. doi: 10.1016/j.isatra.2022.04.013. Epub 2022 Apr 13.
In this paper, an observer-based fixed-time tracking control strategy is presented for unmanned surface vehicles (USVs) with model uncertainties, external disturbances, and actuator faults. Firstly, as the theory foundation, a fast fixed-time stable system that has a shorter settling time than the existing systems is proposed. According to this system and the motion characteristics of an USV, a fast fixed-time disturbance observer is developed to obtain the unknown effects caused by lumped uncertainties. By combining the estimated knowledge and a nonsingular fast fixed-time terminal sliding surface, a robust fast fixed-time trajectory tracking controller is designed for the USV. According to Lyapunov stability theory, the fast fixed-time convergence of the proposed controller is proved. Finally, the simulation results demonstrate the effectiveness of the developed control scheme.
本文针对存在模型不确定性、外部干扰和执行器故障的无人水面舰艇（USV），提出了一种基于观测器的固定时间跟踪控制策略。首先，作为理论基础，提出了一种快速固定时间稳定系统，其建立时间比现有系统更短。根据该系统和无人水面舰艇的运动特性，开发了一种快速固定时间干扰观测器，以获取由集总不确定性引起的未知影响。通过结合估计知识和非奇异快速固定时间终端滑模面，为无人水面舰艇设计了一种鲁棒快速固定时间轨迹跟踪控制器。根据李雅普诺夫稳定性理论，证明了所提控制器的快速固定时间收敛性。最后，仿真结果验证了所开发控制方案的有效性。
