Adaptive Sliding Mode Control for Unmanned Surface Vehicles with Predefined-Time Tracking Performances

Abstract

This paper is concerned with the trajectory tracking control of unmanned surface vehicles (USVs) subject to input quantization, actuator faults and dead zones. In scenarios with dense marine facilities, there are constraints on the tracking performance and convergence time of USVs. First, the designed control signal is quantized by a hysteresis quantizer to reduce the transmission rate. Second, to guarantee the transient and steady-state tracking performance of the USV, a prescribed performance control technology with a predefined settling time is employed. Third, a predefined-time adaptive sliding mode control (SMC) method is designed by integrating the auxiliary function and the barrier function. Moreover, the lumped uncertainties caused by quantization, actuator faults, and dead zones are simultaneously processed using control gain based on barrier function. The proposed control method guarantees that the tracking error and sliding variable converge to the corresponding predefined bounds within a predefined time. The predefined bounds are independent of the upper bound on the lumped uncertainty. The stability of the controlled system is proven via the Lyapunov theorem. Finally, the effectiveness of the designed controller is verified by numerical simulations.

Frequency Criterion for the Existence of Sliding Processes in Control Systems with an Arbitrary Variable Structure

“…In recent years, many works have been published on sliding processes in automatic control systems [6][7][8][9][10][11][12][13][14]. These works use methods similar to the equivalent control method [5][6][7] or the second Lyapunov method [8,9].…”

Predefined-Time and Prescribed-Performance Control Methods Combined with Second-Order Terminal Sliding Mode Control for an Unmanned Planing Hull System with Input Delay and Unknown Disturbance

“…Moreover, a partial improvement in uncertainty was achieved. Predefined-time control has recently been employed for the attitude control of rigid spacecraft systems [30][31][32], multi-agent systems [33][34][35][36], and USV systems [37,38]. However, predefined-time control prefers to achieve time-domain performance via direct parameter choice.…”

“…However, as another constraint control method, prescribed-performance controls [38][39][40][41][42] are considered to obtain greater robustness to unmatched pitching-moment disturbances without requiring a complex disturbance observer in this study. Prescribed-performance control implies that the tracking error should converge to an arbitrarily prescribed small steady state bound with an appropriate convergence rate and exhibit a maximum overshoot of less than a sufficiently small predefined value.…”

“…In this study, based on the idea that the robustness of the control system with the prescribed-performance control can partially exert a disturbance depression, the prescribed-performance control applied in [42] was adopted without explicit dependence on the disturbance observer. The adopted prescribed-performance control term requires a simpler variable transformation than that presented in [36][37][38][39][40][41]. Notably, the predefined control performance can be achieved by adding the prescribed control term.…”

Trajectory Tracking Predictive Control for Unmanned Surface Vehicles with Improved Nonlinear Disturbance Observer

“…To ensure trajectory tracking accuracy, a reduced-order extended-state observer and the super-twisting second-order sliding mode controller were proposed. The authors in [36], to solve the lumped uncertainties caused by input quantization, actuator faults, and dead zones, proposed an adaptive sliding mode tracking controller for USVs with predefined time performance. In the control design, adaptive control gains were established based on barrier functions.…”