PI-Type Prescribed Performance Control of Underactuated Surface Vessels With Actuator Faults

Reliable trajectory tracking for underactuated surface vessels (USVs) becomes particularly difficult when actuator faults occur. Specifically, first, underactuated dynamics compromise the ability to ensure transient performance; second, the coupling of actuator faults and system uncertainties poses severe challenges to controller design. To tackle these problems, this paper develops a Proportional-Integral (PI)-based Prescribed Performance Control (PPC) strategy. This strategy ensures that the prescribed trajectory tracking accuracy and error convergence rate can be guaranteed despite actuator faults and unknown model parameters, without relying on any approximation techniques. Meanwhile, the PI structure is utilized to further suppress error oscillations. Theoretical stability analysis and simulation studies demonstrate the validity and robustness of the proposed control scheme.