Predefined-time sliding mode trajectory tracking control for asymmetric underactuated surface vehicle with nonlinear disturbances

IF 3.8 2区数学 Q1 MATHEMATICS, APPLIED

Communications in Nonlinear Science and Numerical Simulation Pub Date : 2025-09-14 DOI:10.1016/j.cnsns.2025.109299

Chenliang Hao , Yana Yang , Jian Zhang , Guanglei Zhao

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Abstract

In this paper, the predefined-time trajectory tracking problem of an asymmetric underactuated surface vehicle (AUSV) subject to external disturbances and model uncertainties is investigated. First, a new predefined-time disturbance observer (PTDO) is developed to estimate the compound disturbances accurately within a predefined time. Then, by employing coordinate transformations and cascaded system theory, the underactuation issue is addressed, and the tracking control problem of the AUSV is reformulated as a stabilization problem of two cascaded subsystems. Subsequently, two nonsingular predefined-time sliding mode control laws are designed for the two cascade subsystems. It is mathematically demonstrated that the tracking errors can converge in a predefined time. Meanwhile, the convergence time-bound is independent of the initial conditions of the system and can be predetermined within the physically allowable range as required. Finally, the simulation and experimental studies demonstrate the effectiveness of the proposed control scheme.

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非对称欠驱动水面车辆非线性扰动的预定义时间滑模轨迹跟踪控制

研究了受外部扰动和模型不确定性影响的非对称欠驱动水面飞行器（AUSV）的预定时间轨迹跟踪问题。首先，提出了一种新的预定义时间干扰观测器（PTDO），用于在预定义时间内准确估计复合干扰。然后，利用坐标变换和级联系统理论，解决了欠驱动问题，将AUSV的跟踪控制问题重新表述为两个级联子系统的镇定问题。随后，针对两个级联子系统设计了两个非奇异的预定义时间滑模控制律。数学上证明了跟踪误差可以在预定时间内收敛。同时，收敛时限与系统的初始条件无关，可以根据需要在物理允许范围内预先确定。最后，仿真和实验研究验证了所提控制方案的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Communications in Nonlinear Science and Numerical Simulation MATHEMATICS, APPLIED-MATHEMATICS, INTERDISCIPLINARY APPLICATIONS

CiteScore

6.80

自引率

7.70%

发文量

378

审稿时长

78 days

期刊介绍： The journal publishes original research findings on experimental observation, mathematical modeling, theoretical analysis and numerical simulation, for more accurate description, better prediction or novel application, of nonlinear phenomena in science and engineering. It offers a venue for researchers to make rapid exchange of ideas and techniques in nonlinear science and complexity. The submission of manuscripts with cross-disciplinary approaches in nonlinear science and complexity is particularly encouraged. Topics of interest: Nonlinear differential or delay equations, Lie group analysis and asymptotic methods, Discontinuous systems, Fractals, Fractional calculus and dynamics, Nonlinear effects in quantum mechanics, Nonlinear stochastic processes, Experimental nonlinear science, Time-series and signal analysis, Computational methods and simulations in nonlinear science and engineering, Control of dynamical systems, Synchronization, Lyapunov analysis, High-dimensional chaos and turbulence, Chaos in Hamiltonian systems, Integrable systems and solitons, Collective behavior in many-body systems, Biological physics and networks, Nonlinear mechanical systems, Complex systems and complexity. No length limitation for contributions is set, but only concisely written manuscripts are published. Brief papers are published on the basis of Rapid Communications. Discussions of previously published papers are welcome.