文献类型：期刊文献

英文题名：Practical Prescribed-time Trajectory Tracking Control for Underactuated Unmanned Surface Vessels With Asymmetric Prescribed Performance Constraints

作者：Liu, Haitao[1];Zhuo, Zhaoxun[1];Tian, Xuehong[1];Mai, Qingqun[1]

机构：[1]Guangdong Ocean Univ, Sch Mech Engn, Zhanjiang 524088, Peoples R China

年份：2025

卷号：23

期号：8

起止页码：2383

外文期刊名：INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS

收录：SCI-EXPANDED(收录号：WOS:001551283100002)、、EI(收录号：20253419009775)、WOS

基金：This work was supported by the Guangdong Basic and Applied Basic Research Foundation [grant number 2024A1515011345], the Key Project of the Department of Education of Guangdong Province [2023ZDZX1005], the Innovation Team Project for Ordinary Universities in Guangdong Province [grant number 2024KCXTD041], the Shenzhen Science and Technology Program [grant number JCYJ20220530162014033], the National Natural Science Foundation of China [grant number 62171143], and the Science and Technology Planning Project of Zhanjiang City [grant number 2021A05023].

语种：英文

外文关键词：Input saturation; prescribed performance control; prescribed-time control; trajectory tracking control; underactuated unmanned surface vessels

外文摘要：This paper proposes a practical prescribed-time trajectory tracking control scheme for underactuated unmanned surface vessels (USVs) that is based on asymmetric prescribed performance control (PPC), which enables the USV to accurately track the desired trajectory with guaranteed transient and steady-state performance. First, the issue of constraint handling is converted into a stabilization problem with unconstrained variables by combining the error transformation with the barrier Lyapunov function. Second, a novel time-varying scaling transformation function (STF) is employed to provide a more relaxed criterion for the realization of practical prescribed time stabilization. Third, a prescribed-time observer is constructed that achieves disturbance attenuation in a prescribed time. An auxiliary dynamic system (ADS) featuring time-varying gain is subsequently designed to solve the input saturation problem. The proposed controller can achieve convergence of the tracking error in a prescribed time independent of the initial conditions while eliminating the sign limitations of the performance function. Moreover, a hysteresis quantizer is introduced to reduce the data transmission load. Finally, it is demonstrated that all the signals in the closed-loop system are bounded via Lyapunov stability theory, and the effectiveness and feasibility of the proposed control scheme are proven via numerical simulation studies.