Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/164089
Title: Tracking control of uncertain surface vessels with global finite-time convergence
Authors: Van, Mien
Do, Van Thanh
Khyam, Mohammad Omar
Do, Xuan Phu
Keywords: Engineering::Mechanical engineering
Issue Date: 2021
Source: Van, M., Do, V. T., Khyam, M. O. & Do, X. P. (2021). Tracking control of uncertain surface vessels with global finite-time convergence. Ocean Engineering, 241, 109974-. https://dx.doi.org/10.1016/j.oceaneng.2021.109974
Journal: Ocean Engineering
Abstract: This paper investigates an innovative control technique for uncertain surface vessels working in enhanced sea states to guarantee global finite-time convergence. First, a new finite-time backstepping approach is investigated. However, the effects of the uncertainties and disturbances reduce the closed-loop performance and prevent the global finite-time convergence of the system. In order to estimate these effects, an innovative finite-time disturbance observer is taken into consideration. The combination between the finite-time backstepping approach and the finite-time disturbance estimation creates a control system providing finite-time convergence of the system. The proposed approach is then tested on a tracking control problem for a surface vessel. The simulation results unveil the innovation of the proposed approach compared with existing ones.
URI: https://hdl.handle.net/10356/164089
ISSN: 0029-8018
DOI: 10.1016/j.oceaneng.2021.109974
Rights: © 2021 Elsevier Ltd. All rights reserved.
Fulltext Permission: none
Fulltext Availability: No Fulltext
Appears in Collections:MAE Journal Articles

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