Non-singular finite-time control method and system for dynamic positioning of unmanned boat with prescribed performance
US11780551B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | May 26, 2023 |
| Grant date | Oct 10, 2023 |
| Priority date | — |
| Expiry date | May 26, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D2109/34
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
Disclosed are a non-singular finite-time control method and system for prescribed performance dynamic positioning of unmanned boat, which belong to the field of automatic control of unmanned boats. The method includes obtaining a difference between the actual measured position and the desired position of the unmanned boat to obtain a position error of the unmanned boat; performing prescribed performance transformation on the unmanned boat position error; constructing a non-singular finite-time virtual velocity law as a reference velocity for unmanned boats; obtaining the difference between the reference speed and the actual measured speed to obtain the speed tracking error; calculating the fuzzy supervisory saturation compensated law and adaptive fuzzy approximation term; constructing a non-singular finite-time dynamical controller to output control commands; applying a force or moment to the unmanned boat to adjust the propeller speed of the unmanned boat, thereby realizing positioning of the unmanned boat.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.