带有推进器饱和的水面船舶预定时间跟踪控制OA

This paper addresses the predefined-time trajectory tracking problem for a class of surface ships subject tothruster saturation.First,a simply structured auxiliary dynamic filter(ADF)with anadjustable filtering rate is designed.The ADF output is used to correct the control error in real time,thereby mitigating the adverse effects of thruster saturation.Second,within a backstepping control framework,a predefined-time tracking control(PTTC)scheme is developed based on Lyapunov stability theory.This scheme exhibits fast saturation correction capability and guarantees that the desired anti-saturation trajectory tracking performance is achieved within a predefined time.Finally,the effectiveness and feasibility of the proposed method are verified through numerical simulations using the Cyber Ship Ⅱ surface ship model.