Novel adaptive law for super-twisting controller: USV tracking control under disturbances

Alvaro-Mendoza, Enrique; González-García, Alejandro; Castañeda, Herman; León-Morales, J. De

doi:10.1016/j.isatra.2023.04.024

Cited by 4 publications

(2 citation statements)

References 21 publications

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“…Firstly, the dynamics of the USV exhibit highly nonlinear behavior. Secondly, the exact model of the USV system is unknown, and working conditions are often harshly affected by sea winds, waves, and currents [2]. Accurate trajectory tracking is crucial for the safe and efficient autonomous operation of the USV in different scenarios and thus has important research value and practical significance.…”

Section: Introductionmentioning

confidence: 99%

Robust Fixed-Time Fault-Tolerant Control for USV with Prescribed Tracking Performance

Li,

Lei

2024

JMSE

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The unmanned surface vessel (USV) is an emerging marine tool with its advantages of automation and intelligence in recent years; the good trajectory tracking performance is an important capability. This paper proposes a novel prescribed performance fixed-time fault-tolerant control scheme for a USV with model parameter uncertainties, unknown external disturbances, and actuator faults, based on an improved fixed-time disturbances observer. Firstly, the proposed observer can not only accurately and quickly estimate and compensate the lumped nonlinearity, including actuator faults, but also reduce the chattering phenomenon by introducing the hyperbolic tangent function. Then, under the framework of prescribed performance control, a prescribed performance fault-tolerant controller is designed based on a nonsingular fixed-time sliding mode surface, which guarantees the transient and steady-state performance of a USV under actuator faults and meets the prescribed tracking performance requirements. In addition, it is proved that the closed-loop control system has fixed-time stability according to Lyapunov’s theory. Finally, upon conducting numerical simulations and comparing the proposed control scheme with the SMC and the finite-time NFTSMC scheme, it is evident that the absolute error tracking performance index of the proposed control scheme is significantly lower, thus indicating its superior accuracy.

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Section: Introductionmentioning

confidence: 99%

Robust Fixed-Time Fault-Tolerant Control for USV with Prescribed Tracking Performance

Li,

Lei

2024

JMSE

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“…To simplify the complexity of parameter adjustment, ref. [31] introduced a useful adaptive controller based on the adaptive super-twisting method. This controller only requires the adjustment of a single parameter.…”

Section: Introductionmentioning

confidence: 99%

Model-Parameter-Free Prescribed Time Trajectory Tracking Control for Under-Actuated Unmanned Surface Vehicles with Saturation Constraints and External Disturbances

Ren,

Zhang,

Ying

et al. 2023

JMSE

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This paper mainly addresses the model-parameter-free prescribed time trajectory tracking control issue for under-actuated unmanned surface vehicles (USVs) that are susceptible to model uncertainties, time-varying disturbances, and saturation constraints. Firstly, a state extension based on coordinate transformation was designed to address the lack of control in the sway channel. Secondly, nonlinear behavior stemming from saturation constraints is not always differentiable. Regarding this, a smooth dead-zone-based model was conducted to fit the behavior, leaving a relatively simple actuator model. Then, an improved prescribed time–prescribed performance function (PTPPF) and error transformation method were utilized to propose a model-parameter-free control algorithm that guarantees user-defined constrained boundaries while ensuring all tracking errors converge within small domains before a preassigned settling time. The theoretical analysis was conducted by the initial value theorem, Lyapunov’s second method, and proof by contradiction, followed by comparative simulation results that verified the effectiveness of the proposed control scheme.

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Prescribed performance actuator-tolerance control for path following of unmanned surface vessels via the triggered adaptive line-of-sight guidance

Liu,

Zhang

2024

Computers and Electrical Engineering

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Novel adaptive law for super-twisting controller: USV tracking control under disturbances

Cited by 4 publications

References 21 publications

Robust Fixed-Time Fault-Tolerant Control for USV with Prescribed Tracking Performance

Robust Fixed-Time Fault-Tolerant Control for USV with Prescribed Tracking Performance

Model-Parameter-Free Prescribed Time Trajectory Tracking Control for Under-Actuated Unmanned Surface Vehicles with Saturation Constraints and External Disturbances

Prescribed performance actuator-tolerance control for path following of unmanned surface vessels via the triggered adaptive line-of-sight guidance

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