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<p>This paper presents a fixed-time composite prescribed performance control law to address the trajectory-tracking control problem for unmanned surface vehicles (USVs) subjected to external disturbances, error constraints, and time constraints. Initially, a fixed-time disturbance observer employing the super-twisting algorithm is designed to estimate time-varying disturbances, ensuring that the estimation error converges within a fixed time. Subsequently, by formulating an error performance function alongside an error transformation function, the prescribed performance control strategy is introduced, thus assuring that the USVs’ trajectory-tracking error satisfies predefined performance criteria. Then a composite control law is proposed by integrating a non-singular terminal sliding mode (NSTSM) surface with the disturbance observer and the prescribed performance control strategy, which guarantees that the system stabilization time is independent of the initial state. Finally, numerical simulations conducted on a fully actuated USV demonstrate the efficacy and advantages of the proposed control law.</p>

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Fixed-Time Disturbance Observer-Based Composite Prescribed Performance Control for Unmanned Surface Vessels

  • 期刊论文

  • 发表日期：

    2026年4月14日

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  • Chenglong Gong,
  • Yixin Su,
  • Zhengying Li,
  • Ming Xu,
  • Danhong Zhang

摘要

This paper presents a fixed-time composite prescribed performance control law to address the trajectory-tracking control problem for unmanned surface vehicles (USVs) subjected to external disturbances, error constraints, and time constraints. Initially, a fixed-time disturbance observer employing the super-twisting algorithm is designed to estimate time-varying disturbances, ensuring that the estimation error converges within a fixed time. Subsequently, by formulating an error performance function alongside an error transformation function, the prescribed performance control strategy is introduced, thus assuring that the USVs’ trajectory-tracking error satisfies predefined performance criteria. Then a composite control law is proposed by integrating a non-singular terminal sliding mode (NSTSM) surface with the disturbance observer and the prescribed performance control strategy, which guarantees that the system stabilization time is independent of the initial state. Finally, numerical simulations conducted on a fully actuated USV demonstrate the efficacy and advantages of the proposed control law.