欠驱动
奇点
控制理论(社会学)
弹道
约束(计算机辅助设计)
变量(数学)
跟踪误差
职位(财务)
计算机科学
跟踪(教育)
曲面(拓扑)
自适应控制
控制(管理)
数学
人工智能
物理
数学分析
经济
天文
教育学
心理学
财务
几何学
作者
Jinxi Zhang,Tianyou Chai
出处
期刊:IEEE transactions on systems, man, and cybernetics
[Institute of Electrical and Electronics Engineers]
日期:2022-09-01
卷期号:52 (9): 5646-5655
被引量:28
标识
DOI:10.1109/tsmc.2021.3129798
摘要
This article is dealt with the problem of trajectory tracking with prescribed performance for a family of underactuated surface vessels (USVs) under model uncertainties and disturbances. The prescribed performance means that the USV tracks a given trajectory with the arbitrarily predefined speed of response and accuracy. The existing prescribed performance control (PPC) solutions and the traditional robust control approaches for USVs may have the singularity issue or cause a discontinuous control signal. Thereby, a new-type adaptive PPC strategy is put forward in this article. The adaptive technique is devoted to tackling model imperfections as usual, whereas the constraint-handling technique is adopted in a novel way. Herein, we first construct an auxiliary variable instead of using the approach angle or azimuth angle. Then, we impose constraints on the position error, not the tracking error, and the auxiliary variable, simultaneously. In this way, the predefined performance is achieved by moreover a singularity-free continuous control action. These theoretical findings are illustrated via a comparative simulation study.
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