Fixed-time control of a marine surface vessel system with input saturation and guaranteed prescribed constraints

This paper presents a novel control strategy for a marine surface vessel (MSV) system, specifically addressing the challenges associated with input saturation and prescribed output constraints within a fixed-time framework. The devised control system enables dynamic adjustments to output constraints, accommodating diverse operational and environmental requirements while upholding the safety and reliability of system operations. By introducing a meticulously designed auxiliary function, facilitating seamless transition between constrained and unconstrained systems as needed. Additionally, a skillfully crafted auxiliary system is implemented to effectively address input saturation, guaranteeing the controller maintains its saturation characteristic. The combined use of these two auxiliary components establishes the stability and robustness of the MSV system, with all tracking error signals converging to the corresponding compact sets in the fixed-time, independent of initial conditions. Ultimately, the effectiveness of the proposed control strategy is demonstrated through extensive simulations.