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Finite-Time Trajectory Tracking for Marine Vessel by Nonsingular Backstepping Controller With Unknown External Disturbance
- Source :
- IEEE Access, Vol 7, Pp 165897-165907 (2019)
- Publication Year :
- 2019
- Publisher :
- IEEE, 2019.
-
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.
Details
- Language :
- English
- ISSN :
- 21693536
- Volume :
- 7
- Database :
- Directory of Open Access Journals
- Journal :
- IEEE Access
- Publication Type :
- Academic Journal
- Accession number :
- edsdoj.b41ab6c251df4943875025d190ff302a
- Document Type :
- article
- Full Text :
- https://doi.org/10.1109/ACCESS.2019.2949416