Barrier Lyapunov Function-based adaptive prescribed-time extended state observers design for unmanned surface vehicles subject to unknown disturbances

• Published in: Ocean engineering Vol. 270; p. 113671
• Main Authors: Zhao, Jie, Cai, Chengtao, Liu, Yongchao
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 15.02.2023
• Subjects: Adaptive mechanism; Barrier Lyapunov function; Extended state observers; Prescribed performance function; Prescribed-time; Unmanned surface vehicles; Barrier Lyapunov function; Adaptive mechanism; Prescribed-time; Prescribed performance function; Unmanned surface vehicles; Extended state observers

This paper studies the prescribed-time observer design problem for unmanned surface vessels (USVs) in the presence of unknown ocean disturbances. An adaptive prescribed-time extended state observer (APESO) is designed to estimate the lumped disturbances consisting of model uncertainties and external...