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Fixed-time Trajectory Tracking Control of a Full State Constrained Marine Surface Vehicle with Model Uncertainties and External Disturbances

Mingyu Fu, Taiqi Wang*, and Chenglong Wang
International Journal of Control, Automation, and Systems, vol. 17, no. 6, pp.1331-1345, 2019

Abstract : This paper addresses the fixed-time trajectory tracking control problem of a fully actuated marine surface vehicle with full state constraints and system uncertainties. Acontinuous fixed- time convergence tracking controller is proposed based on fixed-time control and adding a power integrator methods,which achieves system stabilization within a finite time independent of system initial conditions. Moreover, a novel barrier Lyapunov function with a power integrator is designed to ensure the full state tracking error within the constraints. To accurately estimate the lumped disturbances of the vehicle system, a fixed-time disturbance observer is designed to guarantee the settling time of the disturbance observer bounded by a time constant independent of initial estimation errors. Finally, the proposed control scheme is proved to be fixed-time stable via fixed-time Lyapunov stability theorem and the full state constraints can never be violated. A numerical simulation is provided to illustrate the effectiveness and superiority of the proposed control scheme.

Keyword : "Barrier Lyapunov function, fixed-time control, marine surface vehicle, trajectory tracking. "

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