Abstract:In this paper, we propose a robust tracking control scheme for trajectory tracking of overactuated marine surface vessels subject to environmental disturbances and asymmetric time-varying full-state constraints. The proposed robust control scheme is based on the unified barrier function technique that converts the original constrained dynamic positioning system into an equivalent nonconstrained one. In contrast to barrier Lyapunov function-based methods, the unbreakable requirement on the constraints is less r… Show more
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