文献类型：期刊文献

英文题名：Improved FPTPPF-based predefined-time tracking control of a UVMS with actuator faults

作者：Liu, Haitao[1,2,3];Yang, Jingwei[1,2,3];Tian, Xuehong[1,2,3];Mai, Qingqun[1,2,3];Liu, Mingxin[1,2,3]

机构：[1]Guangdong Ocean Univ, Sch Mech Engn, Zhanjiang 524088, Peoples R China;[2]Guangdong Engn Technol Res Ctr Ocean Equipment & M, Zhanjiang 524088, Peoples R China;[3]Guangdong Ocean Univ, Shenzhen Inst, Shenzhen 518120, Peoples R China

年份：2024

卷号：313

外文期刊名：OCEAN ENGINEERING

收录：SCI-EXPANDED(收录号：WOS:001345209100001)、、EI(收录号：20244317257859)、Scopus(收录号：2-s2.0-85207069633)、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 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 numbers 2021A05023 and 2021E05012] .

语种：英文

外文关键词：Underwater vehicle-manipulator system; Predefined-time control; Predefined-time extended state observer; Flexible predefined-time prescribed perfor-; mance function

外文摘要：In this paper, a new predefined-time control scheme is proposed for the trajectory tracking problem of an underwater vehicle-mechanic system (UVMS) with external disturbances, model uncertainties and actuator faults. First, a predefined-time controller is proposed to achieve convergence in a predefined time so that the convergence time does not depend on the initial value of the system. Second, considering the possible grasping and transportation tasks for the UVMS, an improved flexible predefined-time prescribed performance function (FPTPPF) with self-adjustment capability is proposed to avoid the vulnerabilities of the existing prescribed performance functions. A control framework is constructed for the integral barrier Lyapunov function and FPTPPF, which can achieve good tracking performance. Third, a predefined-time extended state observer (ESO) is constructed to address the problems caused by external disturbances, model uncertainties and actuator faults. For strong sudden disturbances, the H infinity control strategy is designed via the backstepping method, which effectively improves the robustness. Finally, the predefined-time stability of the system is proven via Lyapunov stability theory, where the tracking errors can converge to a small region of the null domain in a predefined time. The performance and superiority of the proposed predefined-time control method are verified via simulation comparisons.