Prescribed Performance Ship Tracking Control With a Novel Predefined-Time Performance Function

Abstract

How to accurately process and achieve good transient performance in a short period of time is a key consideration factor for the system. A hyperbolic sine function is used to construct a novel predefined-time convergent prescribed performance function. This algorithm introduces a set of new predefined standards for time convergence assessment based on gamma functions and Riemann zeta functions. By integrating performance indicators of speed, stability and efficiency into the design of the prescribed performance function, the performance framework ensures the achievement of establishing a comprehensive performance optimization model. The upper limit of the settling time is studied, and sufficient conditions for achieving predetermined time convergence are established, validated through experiments using unmanned surface vessels.