Adaptive Fixed-Time Trajectory Tracking Control for Underactuated Hovercraft with Prescribed Performance in the Presence of Model Uncertainties
This paper develops an adaptive fixed-time trajectory tracking controller of an underactuated hovercraft with a prescribed performance in the presence of model uncertainties and unknown time-varying environment disturbances. It is the first time that the proposed method is applied to the motion cont...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2021-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2021/6677445 |
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| _version_ | 1832547691620466688 |
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| author | Mingyu Fu Tan Zhang Fuguang Ding Duansong Wang |
| author_facet | Mingyu Fu Tan Zhang Fuguang Ding Duansong Wang |
| author_sort | Mingyu Fu |
| collection | DOAJ |
| description | This paper develops an adaptive fixed-time trajectory tracking controller of an underactuated hovercraft with a prescribed performance in the presence of model uncertainties and unknown time-varying environment disturbances. It is the first time that the proposed method is applied to the motion control of the hovercraft. To begin with, based on the hovercraft's four degrees of freedom (DOF) model, the virtual control laws are designed using an error transforming function and the fixed-time stability theory to guarantee that the position tracking errors are constrained within the prescribed convergence rates and minimum overshoot. In addition, by combining the Lyapunov direct method and the adaptive radial basis function neural network (ARBFNN), the actual control laws are designed to ensure that the velocity tracking errors converge to a small region containing zero while handling model uncertainties and external disturbances effectively. Finally, all tracking errors of the closed-loop system are uniformly ultimately bounded and fixed-time convergent. Results from a comparative simulation study verify the effectiveness and advantage of the proposed method. |
| format | Article |
| id | doaj-art-28834ddca70d491ab1be1057dc5de01f |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-28834ddca70d491ab1be1057dc5de01f2025-02-03T06:43:46ZengWileyComplexity1076-27871099-05262021-01-01202110.1155/2021/66774456677445Adaptive Fixed-Time Trajectory Tracking Control for Underactuated Hovercraft with Prescribed Performance in the Presence of Model UncertaintiesMingyu Fu0Tan Zhang1Fuguang Ding2Duansong Wang3College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaThis paper develops an adaptive fixed-time trajectory tracking controller of an underactuated hovercraft with a prescribed performance in the presence of model uncertainties and unknown time-varying environment disturbances. It is the first time that the proposed method is applied to the motion control of the hovercraft. To begin with, based on the hovercraft's four degrees of freedom (DOF) model, the virtual control laws are designed using an error transforming function and the fixed-time stability theory to guarantee that the position tracking errors are constrained within the prescribed convergence rates and minimum overshoot. In addition, by combining the Lyapunov direct method and the adaptive radial basis function neural network (ARBFNN), the actual control laws are designed to ensure that the velocity tracking errors converge to a small region containing zero while handling model uncertainties and external disturbances effectively. Finally, all tracking errors of the closed-loop system are uniformly ultimately bounded and fixed-time convergent. Results from a comparative simulation study verify the effectiveness and advantage of the proposed method.http://dx.doi.org/10.1155/2021/6677445 |
| spellingShingle | Mingyu Fu Tan Zhang Fuguang Ding Duansong Wang Adaptive Fixed-Time Trajectory Tracking Control for Underactuated Hovercraft with Prescribed Performance in the Presence of Model Uncertainties Complexity |
| title | Adaptive Fixed-Time Trajectory Tracking Control for Underactuated Hovercraft with Prescribed Performance in the Presence of Model Uncertainties |
| title_full | Adaptive Fixed-Time Trajectory Tracking Control for Underactuated Hovercraft with Prescribed Performance in the Presence of Model Uncertainties |
| title_fullStr | Adaptive Fixed-Time Trajectory Tracking Control for Underactuated Hovercraft with Prescribed Performance in the Presence of Model Uncertainties |
| title_full_unstemmed | Adaptive Fixed-Time Trajectory Tracking Control for Underactuated Hovercraft with Prescribed Performance in the Presence of Model Uncertainties |
| title_short | Adaptive Fixed-Time Trajectory Tracking Control for Underactuated Hovercraft with Prescribed Performance in the Presence of Model Uncertainties |
| title_sort | adaptive fixed time trajectory tracking control for underactuated hovercraft with prescribed performance in the presence of model uncertainties |
| url | http://dx.doi.org/10.1155/2021/6677445 |
| work_keys_str_mv | AT mingyufu adaptivefixedtimetrajectorytrackingcontrolforunderactuatedhovercraftwithprescribedperformanceinthepresenceofmodeluncertainties AT tanzhang adaptivefixedtimetrajectorytrackingcontrolforunderactuatedhovercraftwithprescribedperformanceinthepresenceofmodeluncertainties AT fuguangding adaptivefixedtimetrajectorytrackingcontrolforunderactuatedhovercraftwithprescribedperformanceinthepresenceofmodeluncertainties AT duansongwang adaptivefixedtimetrajectorytrackingcontrolforunderactuatedhovercraftwithprescribedperformanceinthepresenceofmodeluncertainties |