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Original paper

Fixed-time extended state observer-based trajectory tracking and point stabilization control for marine surface vessels with uncertainties and disturbances

Volume: 186, Pages: 106109 - 106109
Published: Jun 13, 2019
Abstract
In this paper, a novel output feedback trajectory tracking control scheme is proposed for marine surface vessels (MSVs). A fixed-time extended state observer (FXESO) is developed to estimate unmeasured velocities and lumped disturbances, and their estimation errors converge to the origin in fixed time. Especially, the convergence time of the system is independent of the initial states of an MSV. These lumped disturbances consist of uncertainties...
Paper Details
Title
Fixed-time extended state observer-based trajectory tracking and point stabilization control for marine surface vessels with uncertainties and disturbances
Published Date
Jun 13, 2019
Volume
186
Pages
106109 - 106109
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