A finite-time prescribed performance control scheme based on an improved nonlinear disturbance observer is proposed for tracking the trajectory of marine surface vessels (MSVs) under the disturbance of the marine environment. The objective of this paper is to design a nonlinear disturbance observer based on state estimation error feedback that accurately estimates and compensates for the unknown disturbance problem. An adaptive law is applied to estimate the upper bound of its error, removing the requirement of a priori knowledge of the unknown lumped disturbance upper bound. This paper also introduces a non-logarithmic performance function in order to efficiently solve the problem of considering both transient and steady state MSVs performance simultaneously. In addition, the adaptive dynamic system is introduced to overcome the adverse effects caused by nonlinear saturation factors for the input-constrained problem. With this control strategy, the system output error converges to a pre-defined region within a finite amount of time and meets the prescribed performance requirements. Finally, simulation and comparison verify the control scheme's effectiveness and superiority.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Nonlinear disturbance observer-based finite-time prescribed performance control for MSVs with input saturation


    Additional title:

    SHIPS AND OFFSHORE STRUCTURES
    Y. NIE ET AL.


    Contributors:
    Nie, Yi (author) / Shen, Zhipeng (author) / Bi, Hongbo (author) / Yu, Haomiao (author) / Zhu, Guibing (author)

    Published in:

    Publication date :

    2025-04-03


    Size :

    14 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English