文献类型：期刊文献

英文题名：Robust fixed-time H₈ tracking control of UUVs with partial and full state constraints and prescribed performance under input saturation

作者：Liu, Haitao[1,2];Qi, Zhenghong[1];Yuan, Jianbin[1];Tian, Xuehong[1,2]

机构：[1]Guangdong Ocean Univ, Sch Mech Engn, Zhanjiang 524088, Peoples R China;[2]Guangdong Ocean Univ, Shenzhen Inst, Shenzhen 518120, Peoples R China

年份：2023

卷号：283

外文期刊名：OCEAN ENGINEERING

收录：SCI-EXPANDED(收录号：WOS:001033717100001)、、WOS

基金：This work was supported by the Key Project of Department of Edu- cation of Guangdong Province [grant number 2021ZDZX1041] , the Shenzhen Science and Technology Program [grant number JCYJ20220530162014033] , and the Science and Technology Planning Project of Zhanjiang City [grant numbers 2021A05023 and 2021E05012] .

语种：英文

外文关键词：Unmanned underwater vehicle; Prescribed performance tracking control; Robust fixed-time; H-8 control; Input saturation

外文摘要：In this paper, a fixed-time tracking control problem for an unmanned underwater vehicle (UUV) is investigated in the case of strong external sudden disturbances, model uncertainty, time-varying disturbances and specified performance constraints. First, a modified barrier Lyapunov function (QABLF) is proposed to increase applicability by introducing the standard quadratic Lyapunov function (QLF) and the logarithmic asymmetric barrier Lyapunov function (ABLF). The QALBF has two types and can be constructed to avoid violations of full and partial state constraints by parameter modification. Second, adaptive antisaturation appointed-time prescribed performance functions (APPFs) are introduced in the QABLF for the first time to relax the overshoot restriction and reduce the effect of input saturation on the performance constraint. Third, based on the backstepping method, a robust H8 control strategy is developed to address strong, sudden disturbances. An auxiliary variable is designed to compensate for input saturation. Next, an improved adaptive radial basis function neural network (ARBFNN) is proposed to match the time-varying disturbances and model uncertainty. Finally, composite robust fixed-time control is achieved with high robustness and transient performance, which guarantees that the closedloop system is fixed-time convergent. Moreover, the feasibility of the proposed controller is verified by Lyapunov analysis and numerical simulation.