控制理论(社会学)
弹道
跟踪(教育)
计算机科学
观察员(物理)
约束(计算机辅助设计)
国家观察员
控制(管理)
边界(拓扑)
瞬态(计算机编程)
控制工程
数学
工程类
人工智能
非线性系统
心理学
教育学
物理
几何学
天文
数学分析
量子力学
操作系统
作者
Bowen Sui,Yiping Liu,Jian‐Qiang Zhang,Zhong Liu,Yuanyuan Zhang
摘要
This article investigates a prescribed-time trajectory tracking control strategy for USVs considering marine environmental interferences and unmodeled dynamics. Firstly, a fixed-time extended state observer is introduced to quickly and accurately observe the compound perturbations including ocean disturbances and unmodeled dynamics. Subsequently, a prescribed-time prescribed performance function is utilized to obtain guaranteed transient performance within a predefined time. Finally, combining the fixed-time extended state observer, dynamic surface control technique, and prescribed-time prescribed performance control, a prescribed-time prescribed performance control strategy is developed to guarantee that the tracking errors converge to a predefined performance constraint boundary within a prescribed time. The effectiveness and superiority of the presented control strategy is verified by the simulation results.
科研通智能强力驱动
Strongly Powered by AbleSci AI