Design of performance-guaranteed controller for trajectory tracking of surface vessels

IF 2.5 3区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS
Tan Zhang, Jinzhong Zhang, Gang Zhang
{"title":"Design of performance-guaranteed controller for trajectory tracking of surface vessels","authors":"Tan Zhang,&nbsp;Jinzhong Zhang,&nbsp;Gang Zhang","doi":"10.1016/j.ejcon.2025.101197","DOIUrl":null,"url":null,"abstract":"<div><div>In this investigation, a performance-guaranteed controller is created for surface vessel trajectory tracking in order to optimize the control system’s initial-state and stable-state features. First, an original high-order barrier functional is constructed to tackle the issue that the current integral barrier functional does not offer the necessary performance control. The prescribed performance function is subsequently revised based on the current one in order to change the rate of decline. It is easy to combine the enhanced prescribed performance function with the proposed barrier functional. Furthermore, the tracking controller for the surface vessel is built using the presented barrier functional, performance boundary function, and disturbance observer in order to preserve both initial-state and stable-state performances of the position error and address the effect of system uncertainty on control precision. It can be done to demonstrate that the position error stays inside the pre-set performance function and that all surface vessel errors could exponentially approach a nearby value of zero applying Lyapunov stability theory and supplied Theorem 1. Finally, a simulation experiment on a fully actuated marine vessel confirms the viability of the proposed approach to handle the performance-guaranteed tracking control by adjusting the value of various auxiliary parameters in the new barrier functional.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"82 ","pages":"Article 101197"},"PeriodicalIF":2.5000,"publicationDate":"2025-02-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"European Journal of Control","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0947358025000251","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0

Abstract

In this investigation, a performance-guaranteed controller is created for surface vessel trajectory tracking in order to optimize the control system’s initial-state and stable-state features. First, an original high-order barrier functional is constructed to tackle the issue that the current integral barrier functional does not offer the necessary performance control. The prescribed performance function is subsequently revised based on the current one in order to change the rate of decline. It is easy to combine the enhanced prescribed performance function with the proposed barrier functional. Furthermore, the tracking controller for the surface vessel is built using the presented barrier functional, performance boundary function, and disturbance observer in order to preserve both initial-state and stable-state performances of the position error and address the effect of system uncertainty on control precision. It can be done to demonstrate that the position error stays inside the pre-set performance function and that all surface vessel errors could exponentially approach a nearby value of zero applying Lyapunov stability theory and supplied Theorem 1. Finally, a simulation experiment on a fully actuated marine vessel confirms the viability of the proposed approach to handle the performance-guaranteed tracking control by adjusting the value of various auxiliary parameters in the new barrier functional.
水面舰艇轨迹跟踪性能保证控制器设计
在本研究中,为了优化控制系统的初始状态和稳态特征,创建了一个性能保证的水面船舶轨迹跟踪控制器。首先,构造了一个原始的高阶势垒函数来解决当前积分势垒函数不能提供必要的性能控制的问题。规定的性能函数随后在当前性能函数的基础上进行修订,以改变下降速率。将增强的规定性能函数与提出的屏障函数结合起来很容易。在此基础上,利用所提出的障碍函数、性能边界函数和扰动观测器构建了水面舰船的跟踪控制器,以保持位置误差的初始和稳态性能,并解决系统不确定性对控制精度的影响。应用李雅普诺夫稳定性理论和提供的定理1,可以证明位置误差保持在预设的性能函数内,并且所有水面船舶误差都可以指数地接近于零附近的值。最后,在一艘全驱动船舶上进行了仿真实验,验证了所提方法的可行性,该方法通过调整新障碍函数中各种辅助参数的值来实现性能保证的跟踪控制。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 求助全文
来源期刊
European Journal of Control
European Journal of Control 工程技术-自动化与控制系统
CiteScore
5.80
自引率
5.90%
发文量
131
审稿时长
1 months
期刊介绍: The European Control Association (EUCA) has among its objectives to promote the development of the discipline. Apart from the European Control Conferences, the European Journal of Control is the Association''s main channel for the dissemination of important contributions in the field. The aim of the Journal is to publish high quality papers on the theory and practice of control and systems engineering. The scope of the Journal will be wide and cover all aspects of the discipline including methodologies, techniques and applications. Research in control and systems engineering is necessary to develop new concepts and tools which enhance our understanding and improve our ability to design and implement high performance control systems. Submitted papers should stress the practical motivations and relevance of their results. The design and implementation of a successful control system requires the use of a range of techniques: Modelling Robustness Analysis Identification Optimization Control Law Design Numerical analysis Fault Detection, and so on.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信