公开(公告)号：US11780551B1

公开(公告)日：2023-10-10

申请号：US18324168

申请日：2023-05-26

Applicant: HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY

Inventor： Xianbo Xiang ,  Yu Duan ,  Jinjiang Li ,  Qin Zhang ,  Shaolong Yang ,  Gong Xiang

IPC: G05D1/02 ,  B63H25/04

CPC classification number: B63H25/04 ,  G05D1/0206

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.