Fixed-time extended state observer-based trajectory tracking and point stabilization control for marine surface vessels with uncertainties and disturbances

Abstract In this paper, a novel output feedback trajectory tracking control scheme is proposed for marine surface vessels (MSVs). A fixed-time extended state observer (FXESO) is developed to estimate unmeasured velocities and lumped disturbances, and their estimation errors converge to the origin in fixed time. Especially, the convergence time of the system is independent of the initial states of an MSV. These lumped disturbances consist of uncertainties and external time-varying disturbances. Considering control accuracy and convergence rate, a finite-time homogeneity control theory (FHC) is employed in the controller design. The proposed scheme can guarantee the tracking errors to converge to zero in finite time. Meanwhile, the point stabilization is considered as a special case of the trajectory tracking, and the superior results can be achieved under the proposed control scheme framework as well. Finally, simulation studies and comparisons demonstrate the effectiveness of the developed control scheme.

[1]  Jie Huang,et al.  Finite-time control for robot manipulators , 2002, Syst. Control. Lett..

[2]  Yan Yan,et al.  Sliding mode tracking control of autonomous underwater vehicles with the effect of quantization , 2018 .

[3]  Mou Chen,et al.  Fixed-Time Disturbance Observer Design for Brunovsky Systems , 2018, IEEE Transactions on Circuits and Systems II: Express Briefs.

[4]  Zhihong Man,et al.  Continuous finite-time control for robotic manipulators with terminal sliding mode , 2003, Autom..

[5]  Thor I. Fossen,et al.  Marine Control Systems Guidance, Navigation, and Control of Ships, Rigs and Underwater Vehicles , 2002 .

[6]  Zewei Zheng,et al.  Fixed-time autonomous shipboard landing control of a helicopter with external disturbances , 2019, Aerospace Science and Technology.

[7]  Lionel Lapierre,et al.  Survey on Fuzzy-Logic-Based Guidance and Control of Marine Surface Vehicles and Underwater Vehicles , 2018, Int. J. Fuzzy Syst..

[8]  Shuanghe Yu,et al.  Design of an indirect adaptive controller for the trajectory tracking of UVMS , 2018 .

[9]  Xin Zhang,et al.  Adaptive sliding-mode attitude control for autonomous underwater vehicles with input nonlinearities , 2016 .

[10]  Chenguang Yang,et al.  Corrections to "Extended State Observer-Based Integral Sliding Mode Control for an Underwater Robot With Unknown Disturbances and Uncertain Nonlinearities" , 2019, IEEE Trans. Ind. Electron..

[11]  Youmin Zhang,et al.  The Design of Fixed-Time Observer and Finite-Time Fault-Tolerant Control for Hypersonic Gliding Vehicles , 2018, IEEE Transactions on Industrial Electronics.

[12]  Shuanghe Yu,et al.  Finite-Time Consensus for Second-Order Multi-Agent Systems with Disturbances by Integral Sliding Mode Algorithm based on Relative Information , 2018, 2018 37th Chinese Control Conference (CCC).

[13]  Khac Duc Do,et al.  Global robust adaptive path-tracking control of underactuated ships under stochastic disturbances , 2016 .

[14]  Shihua Li,et al.  Finite-Time Attitude Stabilization for a Spacecraft Using Homogeneous Method , 2012 .

[15]  Ning Wang,et al.  Adaptive Robust Finite-Time Trajectory Tracking Control of Fully Actuated Marine Surface Vehicles , 2016, IEEE Transactions on Control Systems Technology.

[16]  Yoo Sang Choo,et al.  Leader-follower formation control of underactuated autonomous underwater vehicles , 2010 .

[17]  Ning Wang,et al.  Robust adaptive self-organizing neuro-fuzzy tracking control of UUV with system uncertainties and unknown dead-zone nonlinearity , 2017 .

[18]  David J. Murray-Smith,et al.  Disturbance Observer Design for Nonlinear Systems Represented by Input–Output Models , 2020, IEEE Transactions on Industrial Electronics.

[19]  Hong Wang,et al.  A fixed-time output feedback control scheme for double integrator systems , 2017, Autom..

[20]  Zhu Qidan,et al.  Sliding mode tracking control of an underactuated surface vessel , 2012 .

[21]  Ajith Abraham,et al.  A Trajectory Tracking Robust Controller of Surface Vessels With Disturbance Uncertainties , 2014, IEEE Transactions on Control Systems Technology.

[22]  Zheng Yan,et al.  Model Predictive Control for Tracking of Underactuated Vessels Based on Recurrent Neural Networks , 2012, IEEE Journal of Oceanic Engineering.

[23]  Mingyu Fu,et al.  Finite-time extended state observer-based distributed formation control for marine surface vehicles with input saturation and disturbances , 2018, Ocean Engineering.

[24]  Lu Liu,et al.  Direct and composite iterative neural control for cooperative dynamic positioning of marine surface vessels , 2015 .

[25]  Ning Wang,et al.  Finite-time observer based accurate tracking control of a marine vehicle with complex unknowns , 2017 .

[26]  Meng Joo Er,et al.  Fast and Accurate Trajectory Tracking Control of an Autonomous Surface Vehicle With Unmodeled Dynamics and Disturbances , 2016, IEEE Transactions on Intelligent Vehicles.

[27]  Yan Yan,et al.  Formation control of multiple underwater vehicles subject to communication faults and uncertainties , 2019, Applied Ocean Research.

[28]  Warren E. Dixon,et al.  Tracking and regulation control of an underactuated surface vessel with nonintegrable dynamics , 2002, IEEE Trans. Autom. Control..

[29]  Liang Zhang,et al.  Fixed-time extended state observer based non-singular fast terminal sliding mode control for a VTVL reusable launch vehicle , 2018, Aerospace Science and Technology.

[30]  Dan Wang,et al.  Adaptive Dynamic Surface Control for Formations of Autonomous Surface Vehicles With Uncertain Dynamics , 2013, IEEE Transactions on Control Systems Technology.

[31]  Weisheng Yan,et al.  Mutual Information-Based Multi-AUV Path Planning for Scalar Field Sampling Using Multidimensional RRT* , 2016, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[32]  Lionel Lapierre,et al.  Nonlinear guidance and fuzzy control for three-dimensional path following of an underactuated autonomous underwater vehicle , 2017 .

[33]  Yuri B. Shtessel,et al.  Sliding Mode Disturbance Observer-Based Control for a Reusable Launch Vehicle , 2005 .

[34]  Yan Yan,et al.  Fixed-time output feedback trajectory tracking control of marine surface vessels subject to unknown external disturbances and uncertainties. , 2019, ISA transactions.

[35]  Yuri B. Shtessel,et al.  Finite- and fixed-time differentiators utilising HOSM techniques , 2017 .

[36]  John B. Moore,et al.  High Performance Control , 1997 .

[37]  Hongjiu Yang,et al.  Finite-time tracking control for pneumatic servo system via extended state observer , 2017 .

[38]  Yaohong Qu,et al.  Trajectory exponential tracking control of unmanned surface ships with external disturbance and system uncertainties. , 2018, ISA transactions.

[39]  Asgeir J. Sørensen,et al.  A survey of dynamic positioning control systems , 2011, Annu. Rev. Control..

[40]  Xianku Zhang,et al.  Concise Robust Adaptive Path-Following Control of Underactuated Ships Using DSC and MLP , 2014, IEEE Journal of Oceanic Engineering.

[41]  Yang Li,et al.  Adaptive Neural Network Control of AUVs With Control Input Nonlinearities Using Reinforcement Learning , 2017, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[42]  Huazhen Fang,et al.  Advanced Control in Marine Mechatronic Systems: A Survey , 2017, IEEE/ASME Transactions on Mechatronics.

[43]  Jianqiang Yi,et al.  Fixed-Time Sliding Mode Disturbance Observer-Based Nonsmooth Backstepping Control for Hypersonic Vehicles , 2020, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[44]  Xinghuo Yu,et al.  Continuous Finite-Time Output Regulation for Disturbed Systems Under Mismatching Condition , 2015, IEEE Transactions on Automatic Control.

[45]  Hee-Jun Kang,et al.  A novel adaptive finite-time control method for a class of uncertain nonlinear systems , 2015 .

[46]  Michael V. Basin,et al.  Hypersonic Missile Adaptive Sliding Mode Control Using Finite- and Fixed-Time Observers , 2018, IEEE Transactions on Industrial Electronics.