Finite-time output feedback path following control of underactuated MSV based on FTESO. (15th March 2021)

• Record Type: Journal Article
• Authors: Nie, Jun; Wang, Haixia; Lu, Xiao; Lin, Xiaogong; Sheng, Chunyang; Zhang, Zhiguo; Song, Shibin
• Is Part Of: Ocean engineering. Volume 224(2021)
• Publication Date: 2021-03-15
• Subjects: Finite time -- Output feedback control -- Path following -- FTESO -- Homogeneous; Ocean engineering -- Periodicals; Ocean engineering; Periodicals; 620.4162
• DOI: 10.1016/j.oceaneng.2021.108660
• Languages: English
• ISSNs: 0029-8018

Abstract

Abstract: The paper designs a finite-time output feedback path following control strategy of underactuated marine surface vehicle (MSV) with the unavailable velocity, the unknown dynamic and unknown external environment disturbances. Firstly, a new finite time extended state observer (FTESO) is devised to accurately observe the unknown velocity and unknown lumped disturbances within finite time. Secondly, depending on the output of FTESO, the velocity observation-based finite-time LOS guidance approach is raised to acquire the reference yaw angle. Thirdly, the finite-time output feedback path following controllers are constructed through the backstepping method to track the desired path with precise tracking performance. It has been demonstrated that the observation error of FTESO is capable of converging to zero and the path following error is able to converge to an arbitrarily small domain near zero in finite time according to the homogeneous theory and the Lyapunov theory. Simulation comparison researches are performed to demonstrate the availability of the designed finite-time output feedback path following strategy. Highlights: The underactuated marine surface vehicle model is established and a finite-time output feedback path following control scheme based on the finite time extended state observer is designed. The finite time extended state observer can estimate the unknown velocity and lumped disturbances, and the observation errors is proved to converge to zero in finite time by homogeneous theory. The finite-time LOS guidance law based on the velocity observation can not only obtain the desired yaw angle but also meet the requirement of finite time. The finite-time output feedback path following control scheme has faster tracking response, higher precision performance and stronger anti-interference ability.