Adaptive output-feedback control with prescribed performance for trajectory tracking of underactuated surface vessels
Adaptive output-feedback control with prescribed performance for trajectory tracking of underactuated surface vessels
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DOI：
10.1016/j.isatra.2019.04.035
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发表时间：
2019-12-01
期刊：
影响因子：
7.3
通讯作者：
Zhang, Weidong
中科院分区：
文献类型：
--
作者：
Jia, Zehua;Hu, Zhihuan;Zhang, Weidong
本文用定量的方法研究了仅有位置和姿态信息的欠驱动水面舰船的轨迹跟踪控制问题。结合高增益观测器、参数压缩算法和性能函数，提出了一种具有预定性能的自适应控制方案。构造了高增益观测器来估计速度，并采用参数压缩算法来更简洁地处理持续摄动和模型不确定性。通过指定的性能函数，可以设计出具有指定性能的控制器。利用李雅普诺夫直接法给出并证明了系统稳定性的结果。与所有误差有关的信号收敛到一个有界集。与已有的方法相比，该方法可以减少调整参数的个数，并保证在变换后的坐标系中跟踪误差在规定的性能约束范围内，这意味着通过性能函数可以保证稳态误差、收敛速度和最大超调量。通过比较和数值仿真，验证了该方案的有效性。(C)2019年ISA。爱思唯尔有限公司出版。保留所有权利。
In this paper, we address the problem of trajectory tracking control of underactuated surface vessels in a quantitative method with only position and attitude available. Combined with high-gain observer, parameter compression algorithm and performance function, an adaptive control scheme with prescribed performance is proposed. The high-gain observer is constructed to estimate the velocities, and the parameter compression algorithm is adopted to address persistent perturbations and model uncertainties in a more concise way. By prescribed performance function, the controller can be designed with prescribed performance. The results about system stability is given and proved by using the Lyapunov direct method. The signals concerning with all the errors converge to a bounded set. Compared with the existing methods, the developed scheme can reduce the number of tuning parameters, and guarantee the tracking errors bounded within the prescribed performance constraints in the transformed coordinate, which means the steady errors, convergence rates and maximum overshoots can be guaranteed by the performance function. Comparison and numerical simulations are given to demonstrate the effectiveness of the proposed scheme. (C) 2019 ISA. Published by Elsevier Ltd. All rights reserved.