ArticleScientific reports2025
Appointed time tracking control for marine surface vessels using the novel integral barrier function.
Article in Scientific reports, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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4 authors.
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Abstract
In this study, an appointed-time tracking controller is devised for the marine surface vessel based on the novel mathematical methods. The novel mathematical methods include that (i) a new high-order integral barrier function is proposed to deal with the symmetric and asymmetric constraints of the high-order systems; (ii) an appointed-time performance function is given to make the performance-constrained error converge to residual domains within the user-designated time; (iii) an integral term is introduced into the disturbance observer to improve estimation accuracy. The rationality of the proposed mathematical method has been proven through theorems. Finally, simulation experiments on a fully actuated surface vessel with three degrees of freedom are used to confirm the efficacy of the trajectory tracking controller developed using the high-order integral barrier function, appointed-time performance function, and disturbance observer.
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