Prescribed-Time Dynamic Positioning Control for USV with Lumped Disturbances, Thruster Saturation and Prescribed Performance Constraints
This work studies the dynamic positioning (DP) control issue of unmanned surface vessels subjected to thruster saturation, error constraints, and lumped disturbances composed of time-varying marine environmental disturbances and model parameter uncertainties. Combining the disturbance-accurate estim...
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MDPI AG
2024-11-01
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| Series: | Remote Sensing |
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| Online Access: | https://www.mdpi.com/2072-4292/16/22/4142 |
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| author | Bowen Sui Jianqiang Zhang Zhong Liu |
| author_facet | Bowen Sui Jianqiang Zhang Zhong Liu |
| author_sort | Bowen Sui |
| collection | DOAJ |
| description | This work studies the dynamic positioning (DP) control issue of unmanned surface vessels subjected to thruster saturation, error constraints, and lumped disturbances composed of time-varying marine environmental disturbances and model parameter uncertainties. Combining the disturbance-accurate estimation technique and the prescribed performance control strategy, a novel prescribed-time DP control scheme is established to address this challenging problem. In particular, the prescribed-time lumped disturbance observer is designed to accurately estimate external marine disturbances, which guarantees that the estimation error converges to zero within a prescribed time. Subsequently, a prescribed performance control strategy is proposed to guarantee that the positioning errors of DP surface vessels with thruster saturation constraints meet the error constraints requirements within a prescribed time. Furthermore, an anti-windup compensator is presented to mitigate the thruster saturation and improve the robustness of the DP control system. The stability analysis demonstrates that all positioning errors of the closed-loop system can converge to predefined performance constraints within a prescribed time. Finally, the numerical simulation confirms the efficacy and superiority of the proposed PTDP scheme. |
| format | Article |
| id | doaj-art-b080e4c246bc4a92acfa5eb7c4a30810 |
| institution | OA Journals |
| issn | 2072-4292 |
| language | English |
| publishDate | 2024-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Remote Sensing |
| spelling | doaj-art-b080e4c246bc4a92acfa5eb7c4a308102025-08-20T02:04:55ZengMDPI AGRemote Sensing2072-42922024-11-011622414210.3390/rs16224142Prescribed-Time Dynamic Positioning Control for USV with Lumped Disturbances, Thruster Saturation and Prescribed Performance ConstraintsBowen Sui0Jianqiang Zhang1Zhong Liu2College of Weaponry Engineering, Naval University of Engineering, Wuhan 430033, ChinaCollege of Weaponry Engineering, Naval University of Engineering, Wuhan 430033, ChinaCollege of Weaponry Engineering, Naval University of Engineering, Wuhan 430033, ChinaThis work studies the dynamic positioning (DP) control issue of unmanned surface vessels subjected to thruster saturation, error constraints, and lumped disturbances composed of time-varying marine environmental disturbances and model parameter uncertainties. Combining the disturbance-accurate estimation technique and the prescribed performance control strategy, a novel prescribed-time DP control scheme is established to address this challenging problem. In particular, the prescribed-time lumped disturbance observer is designed to accurately estimate external marine disturbances, which guarantees that the estimation error converges to zero within a prescribed time. Subsequently, a prescribed performance control strategy is proposed to guarantee that the positioning errors of DP surface vessels with thruster saturation constraints meet the error constraints requirements within a prescribed time. Furthermore, an anti-windup compensator is presented to mitigate the thruster saturation and improve the robustness of the DP control system. The stability analysis demonstrates that all positioning errors of the closed-loop system can converge to predefined performance constraints within a prescribed time. Finally, the numerical simulation confirms the efficacy and superiority of the proposed PTDP scheme.https://www.mdpi.com/2072-4292/16/22/4142dynamic positioningprescribed-time controlprescribed performanceprescribed-time lumped disturbances observerthruster saturation |
| spellingShingle | Bowen Sui Jianqiang Zhang Zhong Liu Prescribed-Time Dynamic Positioning Control for USV with Lumped Disturbances, Thruster Saturation and Prescribed Performance Constraints Remote Sensing dynamic positioning prescribed-time control prescribed performance prescribed-time lumped disturbances observer thruster saturation |
| title | Prescribed-Time Dynamic Positioning Control for USV with Lumped Disturbances, Thruster Saturation and Prescribed Performance Constraints |
| title_full | Prescribed-Time Dynamic Positioning Control for USV with Lumped Disturbances, Thruster Saturation and Prescribed Performance Constraints |
| title_fullStr | Prescribed-Time Dynamic Positioning Control for USV with Lumped Disturbances, Thruster Saturation and Prescribed Performance Constraints |
| title_full_unstemmed | Prescribed-Time Dynamic Positioning Control for USV with Lumped Disturbances, Thruster Saturation and Prescribed Performance Constraints |
| title_short | Prescribed-Time Dynamic Positioning Control for USV with Lumped Disturbances, Thruster Saturation and Prescribed Performance Constraints |
| title_sort | prescribed time dynamic positioning control for usv with lumped disturbances thruster saturation and prescribed performance constraints |
| topic | dynamic positioning prescribed-time control prescribed performance prescribed-time lumped disturbances observer thruster saturation |
| url | https://www.mdpi.com/2072-4292/16/22/4142 |
| work_keys_str_mv | AT bowensui prescribedtimedynamicpositioningcontrolforusvwithlumpeddisturbancesthrustersaturationandprescribedperformanceconstraints AT jianqiangzhang prescribedtimedynamicpositioningcontrolforusvwithlumpeddisturbancesthrustersaturationandprescribedperformanceconstraints AT zhongliu prescribedtimedynamicpositioningcontrolforusvwithlumpeddisturbancesthrustersaturationandprescribedperformanceconstraints |