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Related Experiment Video

Updated: May 10, 2025

Long-term Behavioral Tracking of Freely Swimming Weakly Electric Fish

Long-term Behavioral Tracking of Freely Swimming Weakly Electric Fish

Published on: March 6, 2014

Appointed time tracking control for marine surface vessels using the novel integral barrier function.

Tan Zhang¹, Gang Zhang¹, Pianpian Yan¹

¹School of Electrical and Photoelectronic Engineering, West Anhui University, Lu'an, 237012, China.

Scientific Reports

|April 22, 2025

Summary

This study introduces a novel appointed-time tracking controller for marine surface vessels. The controller ensures trajectory tracking within a specified time, enhancing vessel navigation accuracy and stability.

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Area of Science:

Marine Engineering
Control Systems Theory
Robotics

Background:

Marine surface vessels require precise trajectory tracking for safe and efficient operation.
Existing control methods often struggle with system constraints and achieving timely convergence.
Accurate disturbance estimation is crucial for robust marine vessel control.

Purpose of the Study:

To develop a novel appointed-time tracking controller for marine surface vessels.
To address symmetric and asymmetric constraints in high-order systems.
To guarantee performance-constrained error convergence within a user-defined time.

Main Methods:

Proposing a new high-order integral barrier function to handle system constraints.
Introducing an appointed-time performance function for user-defined convergence time.
Incorporating an integral term into a disturbance observer to enhance estimation accuracy.
Theoretically proving the rationality of the proposed mathematical methods.

Main Results:

The developed controller effectively achieves appointed-time trajectory tracking for marine surface vessels.
Simulation experiments confirm the controller's efficacy on a three-degrees-of-freedom vessel.
The integration of the high-order integral barrier function, appointed-time performance function, and disturbance observer proved successful.

Conclusions:

The proposed controller offers a robust solution for appointed-time trajectory tracking in marine surface vessels.
The novel mathematical framework effectively manages system constraints and ensures timely error convergence.
This advancement contributes to improved navigation and control of autonomous marine systems.