Finite-time control design for course tracking of disturbed ships subject to input saturation

• Published in: International journal of control Vol. 95; no. 5; pp. 1409 - 1418
• Main Authors: Yang, Di, Hu, Xin, Liu, Weijun, Guo, Chen
• Format: Journal Article
• Language: English
• Published: Abingdon Taylor & Francis 04.05.2022; Taylor & Francis Ltd
• Subjects: Course tracking; Disturbances; finite-time command filtered control; finite-time disturbance observer; Hyperbolic functions; hyperbolic tangent function; input saturation; Mathematical analysis; Rudders; Saturation; Ships; Tracking control; Tracking problem

This work considers a finite-time command filtered course tracking problem of ships with unknown bounded disturbances, unmodelled dynamics and input saturation. By melting command filter technique into backstepping design, a finite-time control scheme is proposed, which overcomes the 'explosion...