Robust adaptive finite-time trajectory tracking of underactuated ship

ZHANG Qiang; WANG Qi-wen; MENG Xiang-fei; HU Yan-cai; ZHANG Shu-hao

doi:10.3969/j.issn.1000-4653.2023.01.003

Navigation of China > 2023 > 46(1): 16-23. > DOI: 10.3969/j.issn.1000-4653.2023.01.003

ZHANG Qiang, WANG Qi-wen, MENG Xiang-fei, HU Yan-cai, ZHANG Shu-hao. Robust adaptive finite-time trajectory tracking of underactuated ship[J]. Navigation of China, 2023, 46(1): 16-23. DOI: 10.3969/j.issn.1000-4653.2023.01.003

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Robust adaptive finite-time trajectory tracking of underactuated ship

School of Navigation and Shipping, ShanDong JiaoTong University, Weihai 264209, China

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Received Date: November 14, 2021

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Abstract

A finite-time trajectory tracking controller is developed to overcome the impact of dynamic uncertainties and external disturbance charactering underactuated surface ships. The design transforms the system dynamic uncertainty and external disturbance into a compound vector in single parameter linear form and devises an adaptive control law to approximate the upper bound of the vector, which effectively simplifies the calculation. The virtual control variables and control law are designed in the form of finite-time function for better convergence rate and noise immunity. The stability of the system is examined with Lyapunov stability theory. The effectiveness of the controller is verified through simulation.
- trajectory tracking,
- finite time,
- underactuated ship,
- adaptive control

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