文献类型：会议论文

英文题名：Event-triggered-based fixed-time tracking control with prescribed performance for an underactuated vessel

作者：Liu, Haitao[1,2]; Li, Yongzhuo[2]

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

会议论文集：Proceedings - 2022 Chinese Automation Congress, CAC 2022

会议日期：November 25, 2022 - November 27, 2022

会议地点：Xiamen, China

语种：英文

外文关键词：Linear transformations - Navigation

外文摘要：In this paper, the trajectory tracking control approach for underactuated surface vessels with an off-diagonal inertia matrix is investigated. For the problem with off-diagonal matrix in the model parameters, the coordinate transformation is used to eliminate the challenges of vessel controller design. To make the control system has better tracking performance, a prescribed performance control method is used to design the controller. With the help of an event-triggered mechanism, the communication pressure in the tracking system is relieved. Based on the abovementioned works, the fixed-time stabilisation is considered in the control approach such that the system has fast convergence characteristics. The effectiveness of the proposed control approach is illustrated by implementing some simulations. ? 2022 IEEE.