Command Filtered Finite/Fixed-time Heading Tracking Control of Surface Vehicles
Zhenyu Gao, Ge Guo
Abstract
This paper investigates the heading tracking problem of surface vehicles with unknown model parameters. Based on finite/fixed-time control theories and in the context of command filtered control, two novel adaptive control laws are developed by which the vehicle can track the desired heading within settling time with all signals of the closed-loop system are uniformly bounded. The effectiveness and performance of the schemes are demonstrated by simulations and comparison studies.
Topics & Concepts
Heading (navigation)Control theory (sociology)Settling timeTracking (education)Context (archaeology)Bounded functionControl (management)Computer scienceSurface (topology)Track (disk drive)Control engineeringEngineeringMathematicsArtificial intelligenceStep responseGeographyAerospace engineeringGeometryPedagogyPsychologyArchaeologyMathematical analysisOperating systemAdaptive Control of Nonlinear SystemsControl and Dynamics of Mobile RobotsDistributed Control Multi-Agent Systems