文献类型：期刊文献

英文题名：Predefined-Time Prescribed Performance Second-Order Sliding Mode Path Following Control for Underactuated Marine Surface Vehicles with Using Self- Structuring Nn

作者：Liu, Haitao[1,2]; Zhou, Xuecheng[1]; Tian, Xuehong[1,2]; Mai, Qingqun[1,2]; Sun, Ning[1]

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

年份：2023

外文期刊名：SSRN

收录：EI(收录号：20230194003)

语种：英文

外文关键词：Closed loop systems - Computation theory - Controllers - Numerical methods - Vehicle performance

外文摘要：This paper proposes a predefined time-prescribed performance second-order sliding mode path following controller for underactuated marine surface vehicles (MSVs) with unknown external environmental disturbances based on predefined time predictor line-of-sight (PTPLOS) guidance. First, a predefined time predictor is designed to address the problem of time-varying sideslip angles, and then a guidance law is designed. Second, a prescribed performance function with predefined times is proposed, which can not only set the rate of convergence and the final convergence range but also set an upper bound on the convergence time. Third, the predefined-time controller is designed in combination with second-order sliding mode control. Then, a self-structuring neural network (SSNN) is developed to approximate external disturbances and uncertainties, and this approach can adaptively adjust the number of neurons, reducing the computational burden while maintaining high approximation accuracy. After that, the closed-loop system is proven to be predefined-time stable by means of Lyapunov stability theory. Finally, the control method proposed in this paper is validated through numerical simulations, demonstrating its effectiveness. ? 2023, The Authors. All rights reserved.