This paper investigates the path following problem of underactuated unmanned surface vehicle systems suffering unknown disturbances. A fixed-time predictor is proposed to approximate the sideslip caused by disturbances, by which the prediction error can converge to zero in a fixed time. By selecting appropriate controller parameters, the upper bound of settling time is identified. And it's independent of initial conditions, compared with the finite-time predictor. In addition, a fixed-time line-of-sight (LOS) guidance law and a fixed-time heading controller are proposed. The cascade system composed of the guidance law and heading controller is fixed-time stable. All states of the Unmanned surface vehicles (USV) system can be stabilized globally in a fixed time, and USVs can follow the desired path accurately. Finally, numerical experiments are given to illustrate the effectiveness and feasibility of the proposed algorithm.


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    Title :

    Predictor-Based Fixed-Time LOS Path Following Control of Underactuated USV With Unknown Disturbances


    Contributors:
    Wang, Shandan (author) / Sun, Mengwei (author) / Xu, Yihang (author) / Liu, Jian (author) / Sun, Changyin (author)

    Published in:

    Publication date :

    2023-03-01


    Size :

    1566335 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English