文献类型：期刊文献

英文题名：Fixed-time composite robust H∞ tracking control of marine surface vessels based on the barrier Lyapunov function and an event-triggered strategy

作者：Wang, Zhicheng[1]; Tian, Xuehong[1,2]; Mai, Qingqun[1,2]; Liu, Haitao[1,2]

机构：[1] School of Mechanical and Power Engineering, Guangdong Ocean University, Zhanjiang, 524088, China; [2] Shenzhen Institute of Guangdong Ocean University, Shenzhen, 518120, China

年份：2022

卷号：261

外文期刊名：Ocean Engineering

收录：EI(收录号：20223412589720)

语种：英文

外文关键词：Controllers - Errors - Navigation - Robust control

外文摘要：This paper studies the fixed-time composite robust tracking control problem of a class of marine surface vessel (MSV) systems with uncertainty items and external disturbances. First, the tracking error is restricted within the bounded range by the tan-type barrier Lyapunov function (TT-BLF). Second, a fixed-time disturbance observer (FTDO) is designed to offset the lumped disturbances caused by system uncertainty items and external disturbances. Then, relying on the characteristics of H∞ control, the error is limited within the L2 norm bounded by suppressing the interference of the observation error. Furthermore, considering the importance of saving network resources, an event-triggered controller based on relative thresholds is proposed, which guarantees excellent robustness while greatly reducing the communication bandwidth. Finally, it is shown by Lyapunov stability analysis that all error signals of the nonlinear system converge to a small region close to zero in fixed time under the guidance of the robust control law. The effectiveness of the proposed composite robust controller is verified by numerical simulation results. ? 2022 Elsevier Ltd