首页|Predefined performance course tracking control of unmanned surface vehicle via the upper bounded and dynamic event-triggered technique
Predefined performance course tracking control of unmanned surface vehicle via the upper bounded and dynamic event-triggered technique
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NETL
NSTL
Elsevier
As the basis of the auto-pilot, it is crucial to improve the control accuracy and conciseness of the course tracking control technique. In this paper, a robust adaptive predefined performance control (PPC) scheme is proposed for the problem of course tracking control of unmanned surface vehicle (USV). For the uncertain nonlinear term and unknown marine disturbance, a novel upper bounded approximating technique and relative disturbance observer (DOB) are introduced, which obviously improve the designed conciseness and the sensitivity of the course tracking controller. Combining with the PPC method, the control accuracy and the convergence velocity the tracking error are increased. Besides, the problem of the uncertain actuator gain is considered with a newly adaptive technique. For the communication load from the controller to the actuator, a dynamic event-triggered control (DETC) technique is represented, where the transmission frequency of the control orders is reduced. The uniformly bound of the closed-loop system is proved via the Lyapunov stability theory. Besides, the effectiveness and feasibility of the proposed algorithm are verified through the comparative and practical experiments.
NETL
NSTL
Elsevier
