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- Title
THE MOTION TRAJECTORY-BASED FINITE-TIME CONTROL FOR THE MARINE SURFACE VEHICLE.
- Authors
Chen, H. L.; Ren, H. X.; Yang, B. C.; Chen, J. T.
- Abstract
This brief is devoted to the predesigned motion trajectory-based finite time dynamic positioning (DP) control for a marine surface vehicle (MSV) with unknown external disturbances. Firstly, a preset motion trajectory is presented through establishing the relationship function among position tracking errors and heading tracking error, facilitating the MSV to arrive in the equilibrium point along the pre-designed trajectory. Furthermore, a novel nonsingular and fast terminal sliding mode control (NTSMC) approach is investigated, which ensures faster convergence rate and better stability performance of the close-loop system than the conventional backstepping control approach. What's more, by incorporating the adaptive technique with the NTSMC approach, an adaptive nonsingular and fast terminal sliding mode control (ANTSMC) strategy is addressed. Compared to the NTSMC approach, it strengthens robustness to disturbances and guarantees system states to converge to a closer neighborhood of the equilibrium point. Finally, simulation results illustrate the remarkable effectiveness of proposed control schemes.
- Subjects
DYNAMIC positioning systems; NAVAL architecture; RADIAL basis functions; LYAPUNOV functions; FINITE element method
- Publication
International Journal of Maritime Engineering - Transactions of the Royal Institute of Naval Architects - Part A, 2020, Vol 162, Issue Part A1, pA-75
- ISSN
1479-8751
- Publication type
Article
- DOI
10.3940/rina.ijme.2020.a1.586