Finite-time path following control of a sailboat with actuator failure and unknown sideslip angle

作     者：Yujin WU Kangjian SHAO Ning WANG Zhongchao DENG Yujin WU;Kangjian SHAO;Ning WANG;Zhongchao DENG

作者机构：Science and Technology on Underwater Vehicle LaboratoryHarbin Engineering UniversityHarbin 150001China School of Marine EngineeringDalian Maritime UniversityDalian 116026China 

出 版 物：《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 (浙江大学学报（英文版）A辑（应用物理与工程）)

年 卷 期：2023年第24卷第9期

页      面：749-761页

核心收录：

学科分类：08[工学] 082302[工学-交通信息工程及控制] 0823[工学-交通运输工程] 

基　　金：supported by the National Natural Science Foundation of China(Nos.52271306,52025111,and 51939003) the Central Guidance on Local Science and Technology Development Fund(No.2023JH6/100100010) the Fundamental Research Funds for the Central Universities(No.3132023501),China 

主　　题：Sailboat Sideslip angle Sideslip angle observer Finite-time control(FC) Path following 

摘      要：Suffering from actuator failure and complex sideslip angle,the motion control of a sailboat becomes *** this paper,an improved double finite-time observer-based line-of-sight guidance and finite-time control(IDFLOS-FC)scheme is presented for path following of *** salient features of the proposed IDFLOS-FC scheme are as follows:(1)Considering the problem of actuator failure,an actuator failure model is introduced into the dynamics model of a sailboat.(2)The time-varying sideslip angle of the sailboat is accurately observed by the double finite-time sideslip observers(DFSOs),which reduces the error in line-of-sight(LOS)guidance.(3)A radial basis function(RBF)neural network is used to fit the uncertainty of the model,and the upper bound of the sum of fault effects and external disturbances is estimated based on adaptive theory,so that the controller has accurate tracking and interference suppression.(4)According to the Lyapunov method,the system is finite-time ***,simulation was used to validate the effectiveness of the method.