Predefined-time prescribed performance control for AUV with improved performance function and error transformation

被引：11

作者：

Sun, Yanchao ^{[1
]}

Zhang, Yuang ^{[1
]}

Qin, Hongde ^{[1
]}

Ouyang, Lingpeng ^{[1
]}

Jing, Ruijie ^{[1
]}

机构：

[1] Harbin Engn Univ, Sci & Technol Underwater Vehicle Lab, Harbin 150001, Peoples R China

来源：

OCEAN ENGINEERING | 2023年 / 281卷

基金：

中国国家自然科学基金;

关键词：

Autonomous underwater vehicle; Prescribed performance; Predefined-time control; Trajectory tracking control; Improved performance function;

D O I：

10.1016/j.oceaneng.2023.114817

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

Based on an improved performance function and error transformation, a kind of predefined-time control method with prescribed performance is investigated for the trajectory tracking control problem of the Autonomous Underwater Vehicle (AUV). First, an improved form of performance function is proposed and the corresponding error transformation is given. The AUV trajectory tracking error is limited within the predefined boundary to ensure the expected steady-state and transient response from the perspective of constraint boundary. Then, by using the idea of predefined-time control method, a prescribed performance controller with predefined time is proposed. The convergence time of trajectory tracking error is strictly set, and the Lyapunov method is used to prove the stability of the controller. Finally, the numerical simulation results show that the proposed controller is effective.

引用

页数：9

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