1. Finite-Time Trajectory Tracking for Marine Vessel by Nonsingular Backstepping Controller With Unknown External Disturbance
- Author
-
Yongbo Mao, Chenglong Yang, Ying Zhao, Shuanghe Yu, and Yong Dai
- Subjects
0209 industrial biotechnology ,General Computer Science ,Computer science ,02 engineering and technology ,Tracking (particle physics) ,01 natural sciences ,law.invention ,020901 industrial engineering & automation ,Singularity ,Control theory ,law ,Adaptive system ,0103 physical sciences ,trajectory tracking ,General Materials Science ,Electrical and Electronic Engineering ,010301 acoustics ,marine vessel ,General Engineering ,nonsingular finite-time backstepping controller ,disturbance observer (DO) ,Filter (signal processing) ,Invertible matrix ,Backstepping ,Trajectory ,lcsh:Electrical engineering. Electronics. Nuclear engineering ,Finite-time command filter ,lcsh: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