State-constrained control strategy for safe navigation trajectory tracking of hovercraft based on improved barrier Lyapunov function
Yuanhui Wang, Wang Xiao-le, Chong Liu, Haolun Zhang, Hua Zhou, Xiaoyue Zhang, Haibin Wang
Abstract
This study addresses the challenge of trajectory tracking control for underactuated hovercraft by utilizing an improved integral barrier Lyapunov function to ensure safe and efficient navigation in the presence of uncertain dynamics and environmental disturbances . The research introduces an improved barrier Lyapunov function tailored for both constrained and unconstrained systems by integrating prescribed performance control (PPC) with a log-type barrier Lyapunov function (LBLF). This function effectively limits tracking errors in both position and heading to within a predetermined range. To ensure the hovercraft's navigational stability at high speeds, the paper presents a novel, time-varying integral barrier Lyapunov function (IBLF) with both unilateral and bilateral asymmetric constraints, specifically designed to control surge speed and yaw angular velocity . This ensures the maintenance of surge speed above the critical resistance peak speed and keeps the yaw angular velocity within a secure operational band. The study also introduces a finite-time disturbance observer (FTDO) to estimate the system's uncertainties. Theoretical analysis confirms that the tracking errors are ultimately uniformly bounded, establishing Lyapunov stability . Simulation results substantiate the superiority and efficacy of the proposed control strategy.