IDEAS home Printed from https://ideas.repec.org/a/hin/complx/3281368.html
   My bibliography  Save this article

Fixed-Time Trajectory Tracking Control of Autonomous Surface Vehicle with Model Uncertainties and Disturbances

Author

Listed:
  • Jiawen Cui
  • Haibin Sun

Abstract

The issue of fixed-time trajectory tracking control for the autonomous surface vehicles (ASVs) system with model uncertainties and external disturbances is investigated in this paper. Particularly, convergence time does not depend on initial conditions. The major contributions include the following: (1) An integral sliding mode controller (ISMC) via integral sliding mode surface is first proposed, which can ensure that the system states can follow the desired trajectory within a fixed time. (2) Unknown external disturbances are absolutely estimated by means of designing a fixed-time disturbance observer (FTDO). By combining the FTDO and ISMC techniques, a new control scheme (FTDO-ISMC) is developed, which can achieve both disturbance compensation and chattering-free condition. (3) Aiming at reconstructing the unknown nonlinear dynamics and external disturbances, a fixed-time unknown observer (FTUO) is proposed, thus providing the FTUO-ISMC scheme that finally achieves trajectory tracking of ASVs with unknown parameters. Finally, simulation tests and detailed comparisons indicate the effectiveness of the proposed control scheme.

Suggested Citation

  • Jiawen Cui & Haibin Sun, 2020. "Fixed-Time Trajectory Tracking Control of Autonomous Surface Vehicle with Model Uncertainties and Disturbances," Complexity, Hindawi, vol. 2020, pages 1-10, October.
    • Handle: RePEc:hin:complx:3281368
    DOI: 10.1155/2020/3281368
    as

    Download full text from publisher

    File URL: http://downloads.hindawi.com/journals/8503/2020/3281368.pdf
    Download Restriction: no
    File URL: http://downloads.hindawi.com/journals/8503/2020/3281368.xml
    Download Restriction: no
    File URL: https://libkey.io/10.1155/2020/3281368?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:hin:complx:3281368. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Mohamed Abdelhakeem (email available below). General contact details of provider: https://www.hindawi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.