Adaptive Prescribed‐Time Control for Marine Surface Vehicles: A Time‐Varying Gain Approach

ABSTRACT This study investigates an adaptive prescribed‐time control scheme for marine surface vehicles (MSVs). Based on the introduced time‐varying gain function, this article provides a sufficient condition for practical prescribed‐time stability. The aim is to provide a theoretical basis for the prescribed‐time controller design. The upper bound of the settling time can be accurately preset by adjusting the design parameters. Furthermore, adaptive parameter technique is utilized to handle the unknown lumped disturbances. Theory confirms that the tracking error of the MSV satisfies the conditions for practical prescribed‐time stability. The superiority and effectiveness of the scheme are verified through simulation analysis.