Time-Synchronized Control for an Uncertain Marine Vessel System With External Disturbance
Yuncheng Ouyang, Jian Liu, Changyin Sun
Abstract
In this brief, we focus on the tracking control problem of the unmanned marine vessel (UMV) system with uncertainty and external disturbance. In order to resist the adverse effect on each other between the UMV system states, a time-synchronized control method is proposed to handle the coupling problem, which can guarantee that all system states can achieve the convergence at the same time. In the control design, a time-synchronized estimator is designed to handle the problems of system uncertainty and external disturbance. Furthermore, the stability analysis of the UMV system is given to prove the feasibility of the proposed time-synchronized control. Finally, simulations on a practical UMV model are conducted to illustrate the advantages and effectiveness of the proposed time-synchronized control.