Finite-Time Trajectory Tracking for Marine Vessel by Nonsingular Backstepping Controller With Unknown External Disturbance

Abstract

In this paper, a novel nonsingular finite-time backstepping controller is constructed for trajectory tracking of marine vessel subject to unknown external disturbances. Firstly, in the presence of disturbances, a disturbance observer (DO) is proposed to estimate and compensate the disturbances exactly in finite time. Secondly, a finite-time tracking controller is designed in the classical backstepping procedure, however, the inevitable singularity appears in calculating the derivative of virtual control. Furthermore, for overcoming this singularity, a nonsingular finite-time backstepping controller is designed by adopting a finite-time command filter to estimate the derivative, instead of calculating it directly. Theoretical analysis demonstrates the closed-loop system is finite-time stable. Finally, simulation results and comparisons illustrate the effectiveness of the proposed method. INDEX TERMS Finite-time command filter, disturbance observer (DO), nonsingular finite-time backstepping controller, marine vessel, trajectory tracking.

Fixed-Time Trajectory Tracking Control of Fully Actuated Unmanned Surface Vessels with Error Constraints

“…The simulation results are as follows: Figure 4 compares trajectory tracking under the above three controllers. It can be seen from the Figure 4 that compared with [19,32], the proposed fixed-time prescribed performance controller can make the USV track the desired trajectory faster, and the tracking error is the smallest. Figure 5 shows the tracking components of three different controllers on three degrees of freedom.…”

“…In addition, to validate the superiority of the fixed-time tracking control (FxTC) scheme proposed in this research, the nonlinear controller (NC) (49) in [32] and the finite-time controller (FTC) (50) in [19] are compared and analyzed. The specific forms of the above two controllers are as follows.…”

“…where k 2 is the positive definite parameter matrix to be designed; c and γ are positive constants and satisfy 0 < γ < 1; and the specific parameter design is the same as that in ref. [19].…”

“…According to Figure 8, the IAE values of the control scheme in this paper, refs. [19,32] are 7.29, 14.20, and 16.62, respectively. Hence, the IAE values of the control scheme presented in this article are comparatively lower than the values reported in [19,32].…”

Refined Disturbance Rejection-Based Composite Control of Flexible Spacecrafts for Tracking a Tumbling Non-Cooperative Target

“…More recently, in order to simultaneously enhance the disturbance rejection capability and improve the response speed, the combinations of disturbance rejection algorithms with finite-time control laws have drawn considerable attentions [23], [24]. With regard to the disturbance rejection algorithms, finite-time disturbance observer (FTDO) and terminal sliding mode disturbance observer (TSMDO) are effective disturbance estimation techniques, which can ensure the finite-time convergence of disturbance estimation errors [25], [26].…”