文献类型：期刊文献

英文题名：An improved predictor LOS-based global fixed-time prescribed performance controller for the path following of underactuated marine surface vehicles with input saturation

作者：Liu, Haitao[1,2];Sun, Ning[1,2];Ren, Gang[1]

机构：[1]Southern Marine Sci & Engn Guangdong Lab Zhanjiang, Zhanjiang, Peoples R China;[2]Guangdong Ocean Univ, Sch Mech Engn, Zhanjiang, Peoples R China

年份：2024

卷号：361

期号：1

起止页码：453

外文期刊名：JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS

收录：SCI-EXPANDED(收录号：WOS:001163819700001)、、EI(收录号：20240215352964)、Scopus(收录号：2-s2.0-85181757750)、WOS

基金：This work was supported by the Guangdong Key Areas R & D Program Projects [grant number 2020B1111500001] , the Key Project of the Department of Education 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：Underactuated MSV; Path following; Improved FxTPLOS; Fixed -time disturbance observer; Prescribed performance

外文摘要：A fixed -time controller based on improved fixed -time predictor line -of -sight (FxTPLOS) guidance and a nonsymmetrical prescribed performance constrained controller is designed for the pathfollowing of underactuated marine surface vehicles (MSVs) in the presence of unknown external disturbances and uncertainties. First, a fixed -time error prediction model is established, and an internal model -controlled observer is designed to observe the sideslip angle, which can extend the estimated range of the sideslip angle to any range. Second, a nonlogarithmic performance function is introduced that can converge the error to a prescribed range, and a fixed -time controller is designed by error transformation. A new input saturation function is added to solve the problem of input saturation, and a new filter is added to avoid differentiating the virtual control law. Third, a novel fixed -time lumped disturbance observer is proposed for estimating the model uncertainty and external disturbances. It is possible to achieve accurate disturbance compensation. By using Lyapunov theory to analyze the stability of the closed -loop control system, it is proven that the system can be uniformly globally fixed -time stable (UGFxTS). Finally, simulation experiments prove that the control strategy proposed in this paper is effective.