Robust Fixed-Time H∞ Trajectory Tracking Control for Marine Surface Vessels Based on a Self-Structuring Neural Network.

In this study, a robust fixed-time H∞ trajectory tracking controller for marine surface vessels (MSVs) is proposed based on self-structuring neural network (SSNN). First, a fixed-time H Lyapunov stability theorem is proposed to guarantee that the MSV closed-loop system is fixed-time stable (FTS) and the gain is less than or equal to . This shows high accuracy and strong robustness to the approximation errors. Second, the SSNN is designed to compensate for the model uncertainties of the MSV system, marine environment disturbances, and lumped disturbances term constituted by the actuator faults (AFs). The SSNN can adjust the network structure in real time through elimination rules and split rules. This reduces the computational burden while ensuring the control performance. It is proven by Lyapunov stability that all signals in the MSV system are stable and bounded within a predetermined time. Finally, theoretical analysis and numerical simulation verify the feasibility and effectiveness of the control scheme.