Adaptive Prescribed‐Time Control for Marine Surface Vehicles: A Time‐Varying Gain Approach

ABSTRACT This study investigates an adaptive prescribed‐time control scheme for marine surface vehicles (MSVs). Based on the introduced time‐varying gain function, this article provides a sufficient condition for practical prescribed‐time stability. The aim is to provide a theoretical basis for the...

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Bibliographic Details
Published inJournal of field robotics Vol. 42; no. 5; pp. 1861 - 1873
Main Authors Zeng, Daohui, Liang, Yanhua, Liu, Yongchao, Zhao, Jie, Cai, Chengtao
Format Journal Article
LanguageEnglish
Published Hoboken Wiley Subscription Services, Inc 01.08.2025
Subjects
adaptive control
Control systems design
Design parameters
marine surface vehicles
prescribed‐time control
Stability
Surface vehicles
time‐varying gain
Tracking errors
trajectory tracking
Upper bounds
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ISSN1556-4959
1556-4967
DOI10.1002/rob.22481

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Summary:ABSTRACT This study investigates an adaptive prescribed‐time control scheme for marine surface vehicles (MSVs). Based on the introduced time‐varying gain function, this article provides a sufficient condition for practical prescribed‐time stability. The aim is to provide a theoretical basis for the prescribed‐time controller design. The upper bound of the settling time can be accurately preset by adjusting the design parameters. Furthermore, adaptive parameter technique is utilized to handle the unknown lumped disturbances. Theory confirms that the tracking error of the MSV satisfies the conditions for practical prescribed‐time stability. The superiority and effectiveness of the scheme are verified through simulation analysis.
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ISSN:1556-4959
1556-4967
DOI:10.1002/rob.22481