Fixed-time output feedback trajectory tracking control of marine surface vessels subject to unknown external disturbances and uncertainties

Jingqi Zhang; Shuanghe Yu; Yan Yan

doi:10.1016/j.isatra.2019.03.007

Fixed-time output feedback trajectory tracking control of marine surface vessels subject to unknown external disturbances and uncertainties

ISA Trans. 2019 Oct:93:145-155. doi: 10.1016/j.isatra.2019.03.007. Epub 2019 Mar 11.

Authors

Jingqi Zhang¹, Shuanghe Yu², Yan Yan³

Affiliations

¹ College of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China. Electronic address: jingqi@dlmu.edu.cn.
² College of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China. Electronic address: shuanghe@dlmu.edu.cn.
³ College of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China. Electronic address: y.yan@dlmu.edu.cn.

PMID: 30879866
DOI: 10.1016/j.isatra.2019.03.007

Abstract

This paper proposes a novel fixed-time output feedback control scheme for trajectory tracking of marine surface vessels (MSVs) subject to unknown external disturbances and uncertainties. A fixed-time extended state observer (FESO) is proposed to estimate unknown lumped disturbances and unmeasured velocities, and the observation errors will converge to zero in fixed time. Based on the estimated values, a novel fixed-time trajectory tracking controller is designed for an MSV to track a time-varying reference trajectory by the extension of an adding a power integrator (API), and the tracking errors can converge to zero in fixed time as well. Additionally, the convergence time of the controller and the FESO is independent of initial state values. Finally, simulation results and comparisons illustrate the superiority of the proposed control scheme.

Keywords: Adding a power integrator (API); Fixed-time control; Fixed-time extended state observer (FESO); Marine surface vessels (MSVs); Trajectory tracking.