Adaptive Finite-Time Heading Control of Intelligent Ship with Asymmetric Output Constraints

Abstract

A command filter based finite-time heading control scheme of intelligent ship with asymmetric output constraints is developed. Firstly, asymmetric output constraints are handled via the nonlinear state-dependent function. Then, the finite-time command filters are utilized to filter the immediate control function. This method can solve the issue of calculating burden with good effect. Subsequently, the finite-time error compensate signals are established to make up for the filtering error. Under the constructed tactic, system output does not violate the constraint conditions. Additionally, by analysis of the Lyapunov function and immediate control function, all closed-loop signals are bounded, the heading tracking error can converge to zero in finite time. And the validity of the tactic is confirmed on the simulations in the end.