Finite-Time Adaptive Heading Tracking Control for Surface Vehicles With Full State Constraints
Ze Li, Wangyao Xu, Jinpeng Yu, Chengxi Wang, Guozeng Cui
Abstract
In this brief, the problem of finite-time heading tracking control for surface vehicles with controller faults and full state constraints is studied. The fuzzy logical systems and command filtered backstepping method are utilized to approximate the unknown nonlinear dynamics and construct an adaptive controller, respectively. The Nussbaum function is employed to solve the unknown control direction arising in the system. The new control scheme is proposed based on barrier Lyapunov functions and finite-time control strategy. It is proved that the error between the actual heading angle and the expected one can converge to the region near the origin in a finite time without violating the full state constraints. Finally, the simulation results are presented to show the effectiveness of the proposed finite-time control scheme.