IEEE/ASME transactions on mechatronics, 2019-06, Vol.24 (3), p.1064-1074
2019
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Details
- Autor(en) / Beteiligte
- Titel
- Accurate Trajectory Tracking of Disturbed Surface Vehicles: A Finite-Time Control Approach
- Ist Teil von
- IEEE/ASME transactions on mechatronics, 2019-06, Vol.24 (3), p.1064-1074
- Ort / Verlag
- New York: IEEE
- Erscheinungsjahr
- 2019
- Quelle
- IEEE Electronic Library Online
- Beschreibungen/Notizen
- In this paper, accurate trajectory tracking problem of a surface vehicle disturbed by complex marine environments is solved by creating a finite-time control (FTC) scheme whereby the nonsingular fast terminal sliding mode (NFTSM) and finite-time disturbance observer (FDO) techniques are deployed. Salient features are as follows. By devising an FDO, complex disturbances arising from marine environments can be exactly identified within a short time, in conjunction with the defined NFTSM manifold, and thereby contributing to exact trajectory tracking. Finite-time disturbance observation is completely decoupled from the nominal FTC scheme, and achieves stronger disturbance rejection and faster transient response, simultaneously. Both disturbance observation and trajectory tracking errors can exactly reach to zero in a finite time. Simulation results and comparisons are comprehensively conducted on CyberShip II and demonstrate remarkable superiority of the FTC scheme.
- Sprache
- Englisch
- Identifikatoren
- ISSN: 1083-4435eISSN: 1941-014XDOI: 10.1109/TMECH.2019.2906395Titel-ID: cdi_crossref_primary_10_1109_TMECH_2019_2906395
- Format
- –
- Schlagworte
- Accurate trajectory tracking, Convergence, Disturbance observers, finite-time control (FTC), finite-time disturbance observer (FDO), Marine environment, Mechatronics, nonsingular fast terminal sliding mode (NFTSM), Robustness, Sliding mode control, surface vehicle (SV), Surface vehicles, Tracking errors, Tracking problem, Trajectories, Trajectory tracking, Vehicle dynamics