Finite-time tracking control is proposed for incomplete symmetrical highperformance underactuated unmanned surface vehicles (USV). Global diffeomorphism transformation is used to obtain the form of nonlinear cascaded systems. Thus tracking control of the original USV system is transformed to stabilization of the cascade system. Based on the finite-time Lyapunov theorem, a finite-time convergent controller is designed to obtain fast response and high tracking-precision. The theoretical analysis and simulations show feasibility and effectiveness of the proposed method.
LIU Hai-tao, TIAN Xue-hong, WANG Gui
. Finite-Time Tracking Control of High-Performance Underactuated USV[J]. Journal of Applied Sciences, 2016
, 34(2)
: 203
-214
.
DOI: 10.3969/j.issn.0255-8297.2016.02.010
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