控制理论(社会学)
李雅普诺夫函数
功能(生物学)
自适应控制
Lyapunov重新设计
无人机
势垒函数
曲面(拓扑)
控制(管理)
计算机科学
数学
数学优化
工程类
非线性系统
物理
生物
海洋工程
几何学
人工智能
量子力学
进化生物学
作者
Stephen McIlvanna,Mien Van,Yuzhu Sun,Wasif Naeem,Zhijie Liu
标识
DOI:10.1016/j.oceaneng.2024.116740
摘要
This paper proposes a fixed-time control for trajectory tracking of a marine surface vessel with model uncertainties and prescribed position tracking constraints. The vessel tracking is achieved with fixed-time backstepping using a universal barrier function to constrain the position tracking error. We develop and analyse the controller for a general single-input single-output (SISO) system before extending to the multiple-input multiple-output marine surface vehicle (MIMO MSV) control. Numerical simulations based on a physical test system are provided to demonstrate the efficacy of the solution. We show the proposed controller can provide lower tracking error for the position states and also show that the barrier Lyapunov function (BLF) type control provides to some degree capability to maintain tracking in the presence of unknown disturbance.
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