A state-constrained safety adaptive trajectory tracking control scheme for a hovercraft with enhanced prescribed performance
Qiusu Wang,
Mingyu Fu,
Yujie Xu
et al.
Abstract:In this paper, a state-constrained safety adaptive trajectory tracking control scheme for a hovercraft with enhanced prescribed performance is studied. Firstly, considering the position error, a novel pair of prescribed monotone tube boundary functions combined with a sliding mode is introduced to obtain virtual velocity control laws, and the position error is simplified into an equivalent unconstrained control system by adopting the transformed error function. Unlike traditional prescribed performance control… Show more
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