Practical Predefined-Time Tracking Control of 6-DOF Autonomous Vehicles With Input Quantization and Saturation

Abstract

Trajectory tracking control is a fundamental problem in the control of unmanned systems. In practical systems, actuators often have input quantization and saturation constraints, and failing to account for these constraints can affect control convergence time, precision, and even lead to system instability. Therefore, designing a practical predefined time controller specifically for unmanned systems with input quantization and saturation is particularly important. In this study, a novel practical predefined-time control criterion and predefined-time control criterion are proposed. A novel observer with predefined-time convergence is designed which can deal with both input quantization and input saturation. It is efficient without high computational cost, local optima, or complex parameter tuning. It can deal with ship systems with 6 degrees of freedom exposed to external disturbance. The 6 degrees of freedom model provides a more comprehensive representation of the dynamic characteristics. An autonomous vehicle model is used for testing, and the effectiveness of the proposed algorithm has been demonstrated.