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- W4317042765 endingPage "113671" @default.
- W4317042765 startingPage "113671" @default.
- W4317042765 abstract "This paper studies the prescribed-time observer design problem for unmanned surface vessels (USVs) in the presence of unknown ocean disturbances. An adaptive prescribed-time extended state observer (APESO) is designed to estimate the lumped disturbances consisting of model uncertainties and external disturbances due to wind, waves and ocean currents and reconstruct unmeasured velocities information for USVs. Different from existing finite/fixed-time extended state observers for USVs, the APESO can accomplish observations within a prescribed time with a tiny peaking observation errors. The upper bound of the settling time of the APESO is tightly and explicitly prescribed by only one design parameter, resulting in a simple and weakly conservative parameter tuning process for temporal demands. Moreover, the barrier Lyapunov function (BLF) and prescribed performance function (PPF)-based adaptive mechanism is introduced into the observer design, which can improve the transient performance by self-adjusting the observer correction term along with the ocean disturbance amplitude. Finally, the performance and ascendancy of the proposed APESO are exhibited by simulation comparisons." @default.
- W4317042765 created "2023-01-18" @default.
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- W4317042765 date "2023-02-01" @default.
- W4317042765 modified "2023-10-17" @default.
- W4317042765 title "Barrier Lyapunov Function-based adaptive prescribed-time extended state observers design for unmanned surface vehicles subject to unknown disturbances" @default.
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- W4317042765 doi "https://doi.org/10.1016/j.oceaneng.2023.113671" @default.
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