TY - GEN
T1 - Prescribed Performance Tracking Control for Underactuated Unmanned Surface Vessel Using Fully Actuated System Approach
AU - Duan, Yulin
AU - Zhang, Jiaming
AU - Ren, Weijie
AU - Duan, Guang Ren
N1 - Publisher Copyright:
© 2026 IEEE.
PY - 2026
Y1 - 2026
N2 - This paper investigates the trajectory tracking control problem for an underactuated Unmanned Surface Vessel (USV) subject to prescribed performance constraints. To address the challenges arising from the strong coupling and underactuated characteristics of the USV dynamics, the system is first transformed into a class of Unidirectionally Connected Fully Actuated Systems (UC-FAS). Based on this UC-FAS model, the Fully Actuated System (FAS) approach is utilized to convert the nonlinear system into a linear closed-loop system, and a tracking controller is designed using the Prescribed Performance Control (PPC) methodology. By employing error transformation and barrier functions, the constrained tracking problem is transformed into an unconstrained stabilization problem. Theoretical analysis confirms that the proposed control scheme ensures that the system states asymptotically track the expected signals and the tracking errors strictly evolve within the prescribed performance boundaries.
AB - This paper investigates the trajectory tracking control problem for an underactuated Unmanned Surface Vessel (USV) subject to prescribed performance constraints. To address the challenges arising from the strong coupling and underactuated characteristics of the USV dynamics, the system is first transformed into a class of Unidirectionally Connected Fully Actuated Systems (UC-FAS). Based on this UC-FAS model, the Fully Actuated System (FAS) approach is utilized to convert the nonlinear system into a linear closed-loop system, and a tracking controller is designed using the Prescribed Performance Control (PPC) methodology. By employing error transformation and barrier functions, the constrained tracking problem is transformed into an unconstrained stabilization problem. Theoretical analysis confirms that the proposed control scheme ensures that the system states asymptotically track the expected signals and the tracking errors strictly evolve within the prescribed performance boundaries.
KW - Prescribed Performance Control (PPC)
KW - Trajectory Tracking
KW - Unidirectionally Connected Fully Actuated System (UC-FAS)
KW - Unmanned Surface Vessel (USV)
UR - https://www.scopus.com/pages/publications/105043532397
U2 - 10.1109/FASTA70174.2026.11549521
DO - 10.1109/FASTA70174.2026.11549521
M3 - 会议稿件
AN - SCOPUS:105043532397
T3 - Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026
SP - 1638
EP - 1642
BT - Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026
Y2 - 22 May 2026 through 24 May 2026
ER -