Chinese Journal of Ship Research, Volume. 19, Issue 1, 98(2024)
Predefined time tracking control of underactuated surface vessel with input saturation
Figures & Tables(13)
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Table 1. The parameters of dynamic USV model
View tableView in ArticleTable 1. The parameters of dynamic USV model
参数 数值 参数 数值 参数 数值 参数 数值 $ {{{m_0}} /{{\text{kg}}}} $ 23.800 0 $ {X_{| u |u}}/( {{\text{kg}} \cdot {{\text{m}}^{ - 1}}} ) $ −1.327 4 $ {N_\upsilon }/( {{\text{kg}} \cdot {\text{m}} \cdot {{\text{s}}^{ - 1}}} ) $ 0.105 2 $ {N_{\dot r}}/( {{\text{kg}} \cdot {{\text{m}}^2}} ) $ −1.000 0 $ {{{{\boldsymbol{x}}_g}} / {\text{m}}} $ 0.046 0 $ {X_{uuu}}/( {{\text{kg}} \cdot {\text{s}} \cdot {{\text{m}}^{ - 2}}} ) $ −5.866 4 $ {{{N_{| \upsilon |\upsilon }}} / {{\text{kg}}}} $ 5.043 7 $ {Y_{| \upsilon |r}}/{\text{kg}} $ −0.845 0 $ {{{I_z}} / {( {{\text{kg}} \cdot {{\text{m}}^{\text{2}}}} )}} $ 1.760 0 $ {Y_\upsilon }/( {{\text{kg}} \cdot {{\text{s}}^{ - 1}}} ) $ −0.861 2 $ {N_{| r |\upsilon }}/( {{\text{kg}} \cdot {\text{m}}} ) $ 0.130 0 $ {X_u}/( {{\text{kg}} \cdot {{\text{s}}^{ - 1}}} ) $ −0.725 5 $ {X_{\dot u}}/{\text{kg}} $ −2.000 0 $ {Y_{| \upsilon |\upsilon }}/( {{\text{kg}} \cdot {{\text{m}}^{ - 1}}} ) $ −36.282 3 $ {N_r}/( {{\text{kg}} \cdot {{\text{m}}^2} \cdot {s^{ - 1}}} ) $ −1.900 0 $ {Y_{| r |r}}/( {{\text{kg}} \cdot {\text{m}}} ) $ −3.450 0 $ {Y_{\dot \upsilon }}/{\text{kg}} $ −10.000 0 $ {Y_{| r |\upsilon }}/( {{\text{kg}} \cdot {{\text{m}}^{ - 1}}} ) $ −0.805 0 $ {N_{| \upsilon |r}}/( {{\text{kg}} \cdot {\text{m}}} ) $ 0.080 0 $ {Y_{\dot r}}/( {{\text{kg}} \cdot {\text{m}}} ) $ 0 $ {Y_r}/( {{\text{kg}} \cdot {\text{m}} \cdot {{\text{s}}^{ - 1}}} ) $ 0.107 9 $ {N_{| r |r}}/( {{\text{kg}} \cdot {{\text{m}}^2}} ) $ −0.750 0
Table 2. Control parameters
View tableView in ArticleTable 2. Control parameters
参数 数值 参数 数值 $ {\sigma _{u0}} $ 8.00 $ {\sigma _{u\infty }} $ 0.10 $ {\sigma _{r0}} $ 5.00 $ {\sigma _{r\infty }} $ 0.05 $ {k_1} $ 0.50 $ {k_2} $ 1.65 $ {k_u} $ 0.50 $ {k_r} $ 12.00 $ {\varUpsilon }_{1} $ 25.00 $ {\varUpsilon }_{2} $ 25.00 $ {\mathchar'26\mkern-10mu\lambda }_{1} $ 0.50 $ {\mathchar'26\mkern-10mu\lambda }_{2} $ 0.50 ${T_{\text{h}}}$ /s5.00
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Xiuying HUANG, Haitao LIU, Xuehong TIAN. Predefined time tracking control of underactuated surface vessel with input saturation[J]. Chinese Journal of Ship Research, 2024, 19(1): 98
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Received: Nov. 7, 2022
Accepted: --
Published Online: Mar. 18, 2025
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