Vessel heading tracking fixed time control with preset performance

Jun Fan; Zhixin Yang; Yuhang Hu; Zhankui Song

doi:10.1117/12.3037565

27 September 2024 Vessel heading tracking fixed time control with preset performance

Jun Fan, Zhixin Yang, Yuhang Hu, Zhankui Song

Author Affiliations +

Proceedings Volume 13275, Sixth International Conference on Information Science, Electrical, and Automation Engineering (ISEAE 2024); 132753E (2024) https://doi.org/10.1117/12.3037565
Event: 6th International Conference on Information Science, Electrical, and Automation Engineering (ISEAE 2024), 2024, Wuhan, China

Abstract

This study provides a fixed-time control approach with presettable performance, aiming at the nonlinear ship heading model with parameter uncertainty, input saturation, and unknown external environmental perturbations. In order to overcome input saturation, the method uses an auxiliary power system, a finite-time auxiliary observer to estimate the integrated perturbations, a preset performance function to constrain the tracking error, and a normalized error transformation function to avoid the traditional preset performance control technique's dependence on the system's initial state. The developed controller ensures that the closed-loop direction tracking system is fixed-time stable, as demonstrated by the Lyapunov stability study. Was mimicked by a 45-meter mockup of an unmanned ship. The outcomes are as follows: the unmanned ship's heading tracking error converges to the designated region in the allotted time, and the proposed controller has strong resilience and can handle both model parameter uncertainty and outside disturbances like wind and waves.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Jun Fan, Zhixin Yang, Yuhang Hu, and Zhankui Song "Vessel heading tracking fixed time control with preset performance", Proc. SPIE 13275, Sixth International Conference on Information Science, Electrical, and Automation Engineering (ISEAE 2024), 132753E (27 September 2024); https://doi.org/10.1117/12.3037565

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