Finite-Time Path Following Control of an Underactuated Marine Surface Vessel with Input and Output Constraints

Finite-Time Path Following Control of an Underactuated Marine Surface Vessel with Input and Output Constraints

This paper develops a finite-time path following control scheme for an underactuated marine surface vessel (MSV) with external disturbances, model parametric uncertainties, position constraint and input saturation. Initially, based on the time-varying barrier Lyapunov function (BLF), the finite-time...

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Bibliographic Details
Main Authors: Mingyu Fu, Lulu Wang
Format: Article
Language:English
Published: MDPI AG 2020-09-01
Series:Applied Sciences
Subjects:
underactuated marine surface vessel
path following
finite-time
position constraint
input saturation
disturbance observer
Online Access:https://www.mdpi.com/2076-3417/10/18/6447

Internet

https://www.mdpi.com/2076-3417/10/18/6447

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