Finite-time steering method for path following control of surface vehicles with input saturation

Jianjian Liang, Shoukun Wang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In this paper, we study the finite-time steering algorithms for path following control of surface vehicles. The steering method involves with maneuvers that should be taken to drive surface vehicles to move along the desired directions and is one of the fundamental parts for controlling surface vehicles. By leveraging the homogeneity properties and Lyapunov stability theory, a new steering controller with bounded input based on bi-limit homogeneous principle is developed to guarantee the finite-time closed-loop convergence regardless of initial deviations. The distinctive feature of the method is that the settling time can be guaranteed to satisfy the strict time constraints when dealing with complex tasks for surface vehicles in the unknown environment. The proposed controllers are implemented and validated in the numerical simulations while demonstrating robust finite-time convergence with high levels of efficiency.

Original languageEnglish
Title of host publicationProceedings of the 39th Chinese Control Conference, CCC 2020
EditorsJun Fu, Jian Sun
PublisherIEEE Computer Society
Pages2609-2614
Number of pages6
ISBN (Electronic)9789881563903
DOIs
Publication statusPublished - Jul 2020
Event39th Chinese Control Conference, CCC 2020 - Shenyang, China
Duration: 27 Jul 202029 Jul 2020

Publication series

NameChinese Control Conference, CCC
Volume2020-July
ISSN (Print)1934-1768
ISSN (Electronic)2161-2927

Conference

Conference39th Chinese Control Conference, CCC 2020
Country/TerritoryChina
CityShenyang
Period27/07/2029/07/20

Keywords

  • Finite-Time Control
  • Path Following
  • Steering Method
  • Surface Vehicles

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Liang, J., & Wang, S. (2020). Finite-time steering method for path following control of surface vehicles with input saturation. In J. Fu, & J. Sun (Eds.), Proceedings of the 39th Chinese Control Conference, CCC 2020 (pp. 2609-2614). Article 9188485 (Chinese Control Conference, CCC; Vol. 2020-July). IEEE Computer Society. https://doi.org/10.23919/CCC50068.2020.9188485