无人船预定义时间自适应轨迹跟踪控制OA

This paper addresses the predefined-time trajectory tracking control problem for unmanned surface ves-sels(USVs)under unknown environmental disturbances and uncertain model parameters.An adaptive predefined-time control method with strong engineering applicability is proposed.First,a sufficient condition for practical predefined-time stability is derived,which ensures that the tracking error converges to a small neighborhood of the origin within a user-specified time.Second,to handle the lumped disturbance arising from parameter uncertainties and external disturbances,a single-parameter learning framework is introduced.It converts the disturbance into a linear form with respect to one adaptive parameter,thereby reducing the dependence on precise model information.Furthermore,an adaptive controller is designed based on the backstepping framework,which explicitly links the design parameters to the system regulation time and enhances implementation feasibility.Simulation results demon-strate that the proposed scheme achieves fast and accurate trajectory tracking within the predefined time under various initial conditions.The proposed approach provides theoretical guidance and design reference for high-precision and fast tracking control of USVs operating in complex marine environments.