Appointed-Time Integral Barrier Lyapunov Function-Based Trajectory Tracking Control for a Hovercraft with Performance Constraints

Abstract

This paper develops a totally new appointed-time integral barrier Lyapunov function-based trajectory tracking algorithm for a hovercraft in the presence of multiple performance constraints and model uncertainties. Firstly, an appointed-time performance constraint function is skillfully designed, which proposes to pre-specify the a priori transient and steady performances on the system tracking errors. Secondly, a new integral barrier Lyapunov function is constructed, which combines with the appointed-time performance constraint function to guarantee that the performance constraints on the system tracking errors are never violated. On this basis, an adaptive trajectory tracking controller is derived using the appointed-time integral barrier Lyapunov function technique in the combination of neural networks. According to Lyapunov’s stability theory, it can be shown that the proposed controller is capable of ensuring transient and steady performances on the output tracking errors. In particular, the position and speed tracking can be fulfilled in a user-appointed time without requiring complex control parameters selection. Finally, results from a comparative simulation study verify the efficacy and advantage of the proposed control approach.

Keywords

• underactuated hovercraft
• performance constraint
• appointed-time constraint function
• integral barrier Lyapunov function
• trajectory tracking