Predefined-time prescribed performance control for AUV with improved performance function and error transformation

Based on an improved performance function and error transformation, a kind of predefined-time control method with prescribed performance is investigated for the trajectory tracking control problem of the Autonomous Underwater Vehicle (AUV). First, an improved form of performance function is proposed and the corresponding error transformation is given. The AUV trajectory tracking error is limited within the predefined boundary to ensure the expected steady-state and transient response from the perspective of constraint boundary. Then, by using the idea of predefined-time control method, a prescribed performance controller with predefined time is proposed. The convergence time of trajectory tracking error is strictly set, and the Lyapunov method is used to prove the stability of the controller. Finally, the numerical simulation results show that the proposed controller is effective.