1 bit encoding–decoding-based event-triggered fixed-time adaptive control for unmanned surface vehicle with guaranteed tracking performance
This paper investigates the fixed-time prescribed performance trajectory tracking control for the unmanned surface vehicle with unknown dynamics and disturbances. At first, an improved prescribed performance function was introduced to transformation of coordinate for achieving a user-defined perform...
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| Veröffentlicht in: | Control engineering practice Jg. 135; S. 105513 |
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| Hauptverfasser: | , , , |
| Format: | Journal Article |
| Sprache: | Englisch |
| Veröffentlicht: |
Elsevier Ltd
01.06.2023
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| ISSN: | 0967-0661, 1873-6939 |
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| Abstract | This paper investigates the fixed-time prescribed performance trajectory tracking control for the unmanned surface vehicle with unknown dynamics and disturbances. At first, an improved prescribed performance function was introduced to transformation of coordinate for achieving a user-defined performance including the transient and steady-state performance of the USV. Then, an adaptive fixed-time trajectory tracking controller is designed by integrating the fixed-time stability and the event-triggered control (ETC) mechanism. Stability results prove that the proposed controller not only guaranteed that all the signals in the closed-loop system are the semi-global uniform ultimate bounded (SGUUB), but also ensured the tracking errors can converge to a preassigned area in a fixed-time. Moreover, by proposing a co-design of the ETC and 1-bit signal encoding–decoding mechanisms between controller and actuator, the trade-off between tracking performance and communication cost is achieved. Finally, the effectiveness of the developed control approach is verified through simulation results. |
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| AbstractList | This paper investigates the fixed-time prescribed performance trajectory tracking control for the unmanned surface vehicle with unknown dynamics and disturbances. At first, an improved prescribed performance function was introduced to transformation of coordinate for achieving a user-defined performance including the transient and steady-state performance of the USV. Then, an adaptive fixed-time trajectory tracking controller is designed by integrating the fixed-time stability and the event-triggered control (ETC) mechanism. Stability results prove that the proposed controller not only guaranteed that all the signals in the closed-loop system are the semi-global uniform ultimate bounded (SGUUB), but also ensured the tracking errors can converge to a preassigned area in a fixed-time. Moreover, by proposing a co-design of the ETC and 1-bit signal encoding–decoding mechanisms between controller and actuator, the trade-off between tracking performance and communication cost is achieved. Finally, the effectiveness of the developed control approach is verified through simulation results. |
| ArticleNumber | 105513 |
| Author | Song, Shuai Wu, Chenglin Stojanovic, Vladimir Song, Xiaona |
| Author_xml | – sequence: 1 givenname: Xiaona surname: Song fullname: Song, Xiaona email: xiaona_97@163.com organization: School of Information Engineering, Henan University of Science and Technology, Luoyang 471023, China – sequence: 2 givenname: Chenglin surname: Wu fullname: Wu, Chenglin email: chenglin_2022@163.com organization: School of Information Engineering, Henan University of Science and Technology, Luoyang 471023, China – sequence: 3 givenname: Vladimir surname: Stojanovic fullname: Stojanovic, Vladimir email: vladostojanovic@mts.rs organization: Department of Automatic Control, Robotics and Fluid Technique, Faculty of Mechanical and Civil Engineering, University of Kragujevac, 36000 Kraljevo, Serbia – sequence: 4 givenname: Shuai orcidid: 0000-0002-4780-0967 surname: Song fullname: Song, Shuai email: songshuai_1010@163.com organization: School of Information Engineering, Henan University of Science and Technology, Luoyang 471023, China |
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