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Command‐filtered fixed‐time trajectory tracking control of surface vehicles based on a disturbance observer
Author(s) -
Gao Zhenyu,
Guo Ge
Publication year - 2019
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.4628
Subject(s) - control theory (sociology) , backstepping , trajectory , observer (physics) , disturbance (geology) , tracking (education) , computer science , context (archaeology) , control engineering , control (management) , engineering , adaptive control , physics , artificial intelligence , geology , psychology , paleontology , pedagogy , quantum mechanics , astronomy
Summary In this paper, we investigate trajectory tracking control of surface vehicles with model parameter uncertainties and external disturbances. The disturbances due to the wind, waves, and ocean currents are combined with the model parameter uncertainties as a compound disturbance. Then, a disturbance observer (DO) is introduced to estimate the compound disturbance, which can be achieved within a finite time independent of the initial estimation error. Based on the DO and, in the context of command filtered control, a novel fixed‐time backstepping control scheme is developed, by which the vehicle can track the desired trajectory with all the states globally stabilized in a given fixed time. The effectiveness and performance of the method are demonstrated by numerical simulations.