Affiliation:
1. School of Information and Control Engineering, Qingdao University of Technology, Qingdao 266520, China
Abstract
In the paper, a backstepping control strategy based on a fractional-order finite-time command filter and a fractional-order finite-time disturbance observer is proposed for the trajectory tracking control of an unmanned surface vehicle. A fractional-order finite-time command filter is presented to estimate the derivatives of the intermediate control, which cannot be directly calculated, thereby reducing the chattering generated by the integer-order command filter. The fractional-order finite-time disturbance observer is presented to approximate and compensate for the model uncertainty and unknown external disturbances in the system. Subsequently, the globally asymptotically stable nature of the closed-loop system is proved based on the Lyapunov method. The effectiveness of the method is proven by simulation experiments on unmanned surface vehicles.
Funder
Qingdao Natural Science Foundation
National Natural Science Foundation
Shandong Natural Science Foundation
Subject
Statistics and Probability,Statistical and Nonlinear Physics,Analysis