Adaptive Finite‐Time Prescribed Trajectory Tracking Control for ASV With Asymmetric Dead‐Zone Output and Stochastic Noise

Abstract

Adaptive finite‐time prescribed performance control for autonomous surface vehicles (ASVs) subject to stochastic noise and asymmetric dead‐zone output nonlinearities is investigated in this paper. First, a finite‐time prescribed performance function (FTPPF) is introduced to ensure that the tracking error converges to a predefined region within a finite time, which achieves the finite‐time tracking control and good transient and stability performance. Then, to avoid the “complexity explosion” problem associated with the backstepping approach, a filtering technique is incorporated into the controller design. Furthermore, unknown nonlinear dynamics and stochastic noise are approximated by fuzzy logic systems (FLSs), and the asymmetric dead‐zone output nonlinearity is addressed by constructing a novel dead‐zone approximation model. By constructing appropriate Lyapunov functions, it is shown that all closed‐loop signals remain bounded in probability. Finally, simulation results demonstrate the effectiveness of the proposed control strategy.