Adaptive prescribed time path following controller for underactuated surface vessels

Ghommam, Jawhar; Saad, Maarouf; Zhu, Quanmin; Rahman, Mohammed H.

Abstract

Heading control of marine vehicles is an important issue in navigation and control engineering. This paper investigates the design of a prescribed-time robust adaptive path following control problem of an underactuated surface vessel with parametric uncertainties, unknown disturbances and control input constraints. The establishment of prescribed-time property consists of a prescribed-time regulation of the steering control systems and novel prescribed-time Line of Sight (LOS) guidance control, both of which satisfy the prescribed-time requirement. The feasibility of separate independent control design for the steering and the guidance control systems is guaranteed through the development of new results on nonlinear prescribed-time cascade systems with non-vanishing uncertainties. The Lyapunov method is employed to show that the equilibrium point of the whole system is prescribed-time input to state stable. Numerical simulations are carried out to validate the performance of the proposed control strategy.

• Journal Article Type: Article
• Acceptance Date: Jan 20, 2025
• Online Publication Date: Mar 3, 2025
• Publication Date: Mar 3, 2025
• Deposit Date: Mar 21, 2025
• Publicly Available Date: Mar 21, 2025
• Journal: 2025 13th International Conference on Intelligent Control and Information Processing (ICICIP)
• Print ISSN: 1541-1672
• Publisher: Institute of Electrical and Electronics Engineers
• Peer Reviewed: Peer Reviewed
• Pages: 8-14
• ISBN: 9798331516154
• DOI: https://doi.org/10.1109/icicip64458.2025.10898139
• Public URL: https://uwe-repository.worktribe.com/output/13946177