Finite-Time Trajectory Tracking for Marine Vessel by Nonsingular Backstepping Controller With Unknown External Disturbance

• Published in: IEEE access Vol. 7; pp. 165897 - 165907
• Main Authors: Dai, Yong, Yang, Chenglong, Yu, Shuanghe, Mao, Yongbo, Zhao, Ying
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 2019; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive systems; Backstepping; Control systems design; Controllers; disturbance observer (DO); Disturbance observers; Feedback control; Finite-time command filter; marine vessel; Mathematical analysis; nonsingular finite-time backstepping controller; Output feedback; Sea vessels; Singularities; Tracking control; Trajectory tracking; Uncertainty
• ISSN: 2169-3536; 2169-3536
• DOI: 10.1109/ACCESS.2019.2949416

In this paper, a novel nonsingular finite-time backstepping controller is constructed for trajectory tracking of marine vessel subject to unknown external disturbances. Firstly, in the presence of disturbances, a disturbance observer (DO) is proposed to estimate and compensate the disturbances exactly in finite time. Secondly, a finite-time tracking controller is designed in the classical backstepping procedure, however, the inevitable singularity appears in calculating the derivative of virtual control. Furthermore, for overcoming this singularity, a nonsingular finite-time backstepping controller is designed by adopting a finite-time command filter to estimate the derivative, instead of calculating it directly. Theoretical analysis demonstrates the closed-loop system is finite-time stable. Finally, simulation results and comparisons illustrate the effectiveness of the proposed method.