1. Finite-Time Trajectory Tracking for Marine Vessel by Nonsingular Backstepping Controller With Unknown External Disturbance
- Author
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Yong Dai, Chenglong Yang, Shuanghe Yu, Yongbo Mao, and Ying Zhao
- Subjects
Finite-time command filter ,disturbance observer (DO) ,nonsingular finite-time backstepping controller ,marine vessel ,trajectory tracking ,Electrical engineering. Electronics. Nuclear engineering ,TK1-9971 - Abstract
In this paper, a novel nonsingular finite-time backstepping controller is constructed for trajectory tracking of marine vessel subject to unknown external disturbances. Firstly, in the presence of disturbances, a disturbance observer (DO) is proposed to estimate and compensate the disturbances exactly in finite time. Secondly, a finite-time tracking controller is designed in the classical backstepping procedure, however, the inevitable singularity appears in calculating the derivative of virtual control. Furthermore, for overcoming this singularity, a nonsingular finite-time backstepping controller is designed by adopting a finite-time command filter to estimate the derivative, instead of calculating it directly. Theoretical analysis demonstrates the closed-loop system is finite-time stable. Finally, simulation results and comparisons illustrate the effectiveness of the proposed method.
- Published
- 2019
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