Tracking control of uncertain surface vessels with global finite-time convergence
This paper investigates an innovative control technique for uncertain surface vessels working in enhanced sea states to guarantee global finite-time convergence. First, a new finite-time backstepping approach is investigated. However, the effects of the uncertainties and disturbances reduce the clos...
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| Main Authors: | , , , |
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| 其他作者: | |
| 格式: | Article |
| 語言: | English |
| 出版: |
2023
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| 主題: | |
| 在線閱讀: | https://hdl.handle.net/10356/164089 |
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| 總結: | This paper investigates an innovative control technique for uncertain surface vessels working in enhanced sea states to guarantee global finite-time convergence. First, a new finite-time backstepping approach is investigated. However, the effects of the uncertainties and disturbances reduce the closed-loop performance and prevent the global finite-time convergence of the system. In order to estimate these effects, an innovative finite-time disturbance observer is taken into consideration. The combination between the finite-time backstepping approach and the finite-time disturbance estimation creates a control system providing finite-time convergence of the system. The proposed approach is then tested on a tracking control problem for a surface vessel. The simulation results unveil the innovation of the proposed approach compared with existing ones. |
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