[1]ZHAO Jie,CAI Chengtao,QIAO Renjie.Finite-time dynamic prescribed performance control for surface unmanned vehicles with unknow disturbances[J].CAAI Transactions on Intelligent Systems,2023,18(4):849-857.[doi:10.11992/tis.202209031]
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Finite-time dynamic prescribed performance control for surface unmanned vehicles with unknow disturbances

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 18 Number of periods: 2023 4 Page number: 849-857 Column: 人工智能院长论坛 Public date: 2023-07-15
Title:
Finite-time dynamic prescribed performance control for surface unmanned vehicles with unknow disturbances
Author(s):
ZHAO Jie1;  CAI Chengtao1; 2; 3; 4;  QIAO Renjie1
1. College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China;
2. College of Computer Science And Technology, Harbin Engineering University, Harbin 150001, China;
3. Key laboratory of Intelligent Technology and Application of Marine Equipment, Harbin Engineering University, Ministry of Education, Harbin 150001, China;
4. Modeling and Emulation in E-Government National Engineering Laboratory, Harbin Engineering University, Harbin 150001, China
Keywords:
unmanned surface vehicles; prescribed performance; dynamic prescribed performance function; trajectory tracking; finite time; extended-state-observer; super-twisting integral terminal sliding mode; anti-disturbance
CLC:
TP242
DOI:
10.11992/tis.202209031
Abstract:
In this paper, a finite-time control scheme with dynamic prescribed performance is proposed to solve the trajectory tracking problem of unmanned surface vehicles (USVs) with uncertain dynamics and unknown time-varying ocean environment disturbances. The conventional prescribed performance adopts a static prescribed performance function, and there is a risk that the tracking error will exceed the prescribed performance boundaries set when external disturbance is large. A new dynamic prescribed performance function is proposed to keep the USVs tracking error within a prescribed range. The proposed finite-time control scheme is based on a combination of homogeneous integral sliding mode surface, finite-time extended state observer and super-twisting integral sliding mode control. The algorithm can achieve fast convergence of tracking errors and continuous compensation of bounded disturbances, improving robustness and reducing sliding mode chatter. The theoretical analysis demonstrates the global finite-time stability of the USVs closed-loop system, and the simulation and comparison results verify effectiveness and superiority of the designed control scheme.
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