Finite-Time Unknown Observer-Based Interactive Trajectory Tracking Control of Asymmetric Underactuated Surface Vehicles

In this brief, a finite-time unknown observer-based interactive trajectory tracking control (FUO-ITTC) scheme is created for an asymmetric underactuated surface vehicle (AUSV). In lieu of a selfish trajectory which might be essentially inaccessible for an AUSV, the philosophy of an interactive traje...

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Bibliographic Details
Published in:IEEE transactions on control systems technology 2021-03, Vol.29 (2), p.794-803
Main Authors: Wang, Ning, Su, Shun-Feng
Format: Article
Language:English
Subjects:
Asymmetric underactuated surface vehicle (AUSV)
Asymmetry
composite coordinate transformation (CCT)
Coordinate transformations
Damping
Feedback control
finite-time unknown observer (FUO)
Hydrodynamics
Interactive control
interactive trajectory tracking
Marine vehicles
Stability analysis
Surface vehicles
Surges
Systems stability
Tracking control
Tracking errors
Trajectory
Trajectory control
Trajectory tracking
Vehicle dynamics
Yaw
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Summary:In this brief, a finite-time unknown observer-based interactive trajectory tracking control (FUO-ITTC) scheme is created for an asymmetric underactuated surface vehicle (AUSV). In lieu of a selfish trajectory which might be essentially inaccessible for an AUSV, the philosophy of an interactive trajectory, which features freely prescribed surge and yaw dynamics, and sway interactions with cross-tracking dynamics, is innovatively established for the first time, and thereby contributing to a family of uniformly trackable trajectories which completely remove persistent-excitation constraints on the desired yaw rate. By defining a composite coordinate transformation (CCT), interactive trajectory tracking error dynamics are formulated in a cascade structure with finite-time vanishing residuals. By virtue of the CCT-based cascade structure, FUO-based surge and yaw controllers are separately synthesized with an interaction law. The entire FUO-ITTC closed-loop system stability is guaranteed by combining the Lyapunov approach with cascade analysis, which in turn rigorously proves that both kinematic and dynamic tracking errors globally asymptotically converge to zero. Comprehensive experiments and comparisons are conducted on a benchmark AUSV and demonstrate the remarkable performance of the proposed FUO-ITTC scheme in terms of both transient and steady-state tracking accuracy.
ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2019.2955657