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Volume 8 Issue 10
Oct.  2021

IEEE/CAA Journal of Automatica Sinica

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Article Contents
Zhenyu Gao and Ge Guo, "Command Filtered Finite/Fixed-time Heading Tracking Control of Surface Vehicles," IEEE/CAA J. Autom. Sinica, vol. 8, no. 10, pp. 1667-1676, Oct. 2021. doi: 10.1109/JAS.2021.1004135
Citation: Zhenyu Gao and Ge Guo, "Command Filtered Finite/Fixed-time Heading Tracking Control of Surface Vehicles," IEEE/CAA J. Autom. Sinica, vol. 8, no. 10, pp. 1667-1676, Oct. 2021. doi: 10.1109/JAS.2021.1004135

Command Filtered Finite/Fixed-time Heading Tracking Control of Surface Vehicles

doi: 10.1109/JAS.2021.1004135
Funds:  This work was supported by the National Natural Science Foundation of China (U1808205), the Fundamental Research Funds for the Central Universities (N2023011), the Youth Foundation of Hebei Educational Committee (QN2020522), and the Natural Science Foundation of Hebei Province (F2020501018)
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  • This paper investigates the heading tracking problem of surface vehicles with unknown model parameters. Based on finite/fixed-time control theories and in the context of command filtered control, two novel adaptive control laws are developed by which the vehicle can track the desired heading within settling time with all signals of the closed-loop system are uniformly bounded. The effectiveness and performance of the schemes are demonstrated by simulations and comparison studies.


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    • Proposing a finite-time and a fixed-time backstepping control scheme with which the vehicle can track the given heading with all the signals uniformly bounded and the tracking errors converge to a neighborhood of zeros within the settling time.
    • Incorporating the compensator-based command filter technique into the proposed control scheme, by which the issue of “explosion of complexity” is eliminated, the filtering error can be compensated within finite/fixed time.
    • Adaptive technique is introduced in the context of controller design, and the problem of unknown model parameters is solved.


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