In this paper, a robust sliding mode tracking controller with prescribed performance is developed for an underactuated surface vehicle (USV) with time-varying external disturbances. Firstly, to guarantee the transient and steady-state performance of the closed-loop system, the error transformation technique is presented. Further, the design of the prescribed performance function implements predefined tracking performance constraints, which eliminate the requirement for prior knowledge about the initial errors. Then, a Lyapunov stability synthesis shows that all closed-loop signals remain bounded and the tracking errors remain strictly within the predefined bounds. Finally, simulations and a comparative study are performed to illustrate the robustness and effectiveness of the proposed robust sliding mode control scheme.


    Access

    Download


    Export, share and cite



    Title :

    Robust Trajectory Tracking Control of Underactuated Surface Vehicles with Prescribed Performance


    Contributors:
    Wang Shasha (author) / Tuo Yulong (author)


    Publication date :

    2020




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown





    Robust trajectory tracking control for underactuated autonomous underwater vehicles

    Heshmati Alamdari, Shahab / Nikou, Alexandros / Dimarogonas, Dimos V. | BASE | 2019

    Free access

    Trajectory-tracking Control of Underactuated Underwater Vehicles

    Do, Khac Duc / Pan, Jie | Springer Verlag | 2009


    Robust Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles in Uncertain Environments

    Heshmati Alamdari, Shahabodin / Nikou, Alexandros / Dimarogonas, Dimos V. | BASE | 2021

    Free access

    Robust Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles in Uncertain Environments

    Heshmati Alamdari, Shahabodin / Nikou, Alexandros / Dimarogonas, Dimos V. | BASE | 2020

    Free access