<abstract xmlns="http://www.w3.org/1999/xhtml"><p>In this paper, a robust sliding mode tracking controller with prescribed performance is developed for an underactuated surface vehicle (USV) with time-varying external disturbances. Firstly, to guarantee the transient and steady-state performance of the closed-loop system, the error transformation technique is presented. Further, the design of the prescribed performance function implements predefined tracking performance constraints, which eliminate the requirement for prior knowledge about the initial errors. Then, a Lyapunov stability synthesis shows that all closed-loop signals remain bounded and the tracking errors remain strictly within the predefined bounds. Finally, simulations and a comparative study are performed to illustrate the robustness and effectiveness of the proposed robust sliding mode control scheme.</p></abstract>

In this paper, a robust sliding mode tracking controller with prescribed performance is developed for an underactuated surface vehicle (USV) with time-varying external disturbances. Firstly, to guarantee the transient and steady-state performance of the closed-loop system, the error transformation technique is presented. Further, the design of the prescribed performance function implements predefined tracking performance constraints, which eliminate the requirement for prior knowledge about the initial errors. Then, a Lyapunov stability synthesis shows that all closed-loop signals remain bounded and the tracking errors remain strictly within the predefined bounds. Finally, simulations and a comparative study are performed to illustrate the robustness and effectiveness of the proposed robust sliding mode control scheme.

Robust Trajectory Tracking Control of Underactuated Surface Vehicles with Prescribed Performance

Polish Maritime Research

This work is licensed under the Creative Commons Attribution 4.0 International License.

In this paper, a robust sliding mode tracking controller with prescribed performance is developed for an underactuated surface vehicle (USV) with time-varying...

Robust Trajectory Tracking Control of Underactuated Surface Vehicles with Prescribed Performance

Published Online: Dec 24, 2020

Page range: 148 - 156

DOI: https://doi.org/10.2478/pomr-2020-0075

Keywords
robust sliding mode control, prescribed performance, guaranteed transient performance, trajectory tracking, underactuated surface vehicle

© 2020 Shasha Wang et al., published by Sciendo

This work is licensed under the Creative Commons Attribution 4.0 International License.

Robust Trajectory Tracking Control of Underactuated Surface Vehicles with Prescribed Performance

Published Online: Dec 24, 2020

Page range: 148 - 156

DOI: https://doi.org/10.2478/pomr-2020-0075

Keywordsrobust sliding mode control, prescribed performance, guaranteed transient performance, trajectory tracking, underactuated surface vehicle

© 2020 Shasha Wang et al., published by Sciendo

This work is licensed under the Creative Commons Attribution 4.0 International License.

Keywords
robust sliding mode control, prescribed performance, guaranteed transient performance, trajectory tracking, underactuated surface vehicle