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Waypoints tracking for USVs employing fixed-time prescribed performance fuzzy inverse optimal control with marine experiment.

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Title: Waypoints tracking for USVs employing fixed-time prescribed performance fuzzy inverse optimal control with marine experiment.
Authors: Wang, Zheng1 (AUTHOR) dlwz@dlmu.edu.cn, Zhao, Yongsheng1 (AUTHOR) yszhao@dlmu.edu.cn, Mu, Dongdong1 (AUTHOR) ddmu@dlmu.edu.cn, Wang, Ziang1 (AUTHOR) dlmuwza@dlmu.edu.cn, Ma, Yunxiao1 (AUTHOR) yxxxx@dlmu.edu.cn, Wang, Yiqi2 (AUTHOR) wangyiqi01@cnpc.com.cn, Wang, Qian3 (AUTHOR) 013500013833@crrcgc.cc
Source: ISA Transactions. Jun2026, Vol. 173, p683-695. 13p.
Subjects: Hamilton-Jacobi-Bellman equation, Control theory (Engineering), Oceanography
Abstract: This paper presents a fixed-time control framework for underactuated Unmanned Surface Vehicles (USVs) to track waypoint trajectories under large initial position errors. A Fixed-Time Prescribed Performance (FTPP) guidance law is designed to ensure predefined tracking accuracy. Considering that the Hamilton–Jacobi–Bellman (HJB) equation cannot be directly solved, an optimal control output is derived through a fuzzy inverse optimization approach, while ensuring fixed-time stability. Although fixed-time stability theory ensures that the steady-state time is independent of the initial condition, satisfactory convergence remains difficult to achieve under large position errors. To address this issue, a Dynamic Virtual Guiding Ship (DVGS) mechanism is introduced to replace the original reference trajectory. Finally, the effectiveness and feasibility of the proposed approach are validated through numerical simulations and sea experiments with a 4.9-meter underactuated USV. [Display omitted] • To mitigate the instability induced by large initial position errors, a DVGS mechanism is developed by formulating a QP that minimizes the position-error norm under velocity-increment constraints, enabling rapid and stable error convergence. Based on the DVGS output as the reference trajectory, an FTPP guidance law is further developed to ensure that the position and yaw-angle errors converge to the prescribed performance bounds within a fixed time. • Compared with the finite-time control mechanism in [27] and the fixed-time control mechanism in [20], the proposed Fixed-Time Inverse Optimal Fuzzy Logic System (FTIO-FLS) introduces an inverse-optimal control framework into the USV control architecture to avoid the difficulty of solving the HJB equation explicitly. The proposed design preserves fixed-time stability, while the transformation and switching functions eliminate the singularities induced by fixed-time terms. • To validate the effectiveness of the proposed control strategy, both simulations and marine experiments were conducted. A USV experimental platform was established, with waypoints planned on a nautical chart. A 4.9-meter USV performed waypoint-tracking tasks in open sea, demonstrating the feasibility and reliability of the proposed control approach in real marine environment. [ABSTRACT FROM AUTHOR]
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Database: Engineering Source
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Abstract:This paper presents a fixed-time control framework for underactuated Unmanned Surface Vehicles (USVs) to track waypoint trajectories under large initial position errors. A Fixed-Time Prescribed Performance (FTPP) guidance law is designed to ensure predefined tracking accuracy. Considering that the Hamilton–Jacobi–Bellman (HJB) equation cannot be directly solved, an optimal control output is derived through a fuzzy inverse optimization approach, while ensuring fixed-time stability. Although fixed-time stability theory ensures that the steady-state time is independent of the initial condition, satisfactory convergence remains difficult to achieve under large position errors. To address this issue, a Dynamic Virtual Guiding Ship (DVGS) mechanism is introduced to replace the original reference trajectory. Finally, the effectiveness and feasibility of the proposed approach are validated through numerical simulations and sea experiments with a 4.9-meter underactuated USV. [Display omitted] • To mitigate the instability induced by large initial position errors, a DVGS mechanism is developed by formulating a QP that minimizes the position-error norm under velocity-increment constraints, enabling rapid and stable error convergence. Based on the DVGS output as the reference trajectory, an FTPP guidance law is further developed to ensure that the position and yaw-angle errors converge to the prescribed performance bounds within a fixed time. • Compared with the finite-time control mechanism in [27] and the fixed-time control mechanism in [20], the proposed Fixed-Time Inverse Optimal Fuzzy Logic System (FTIO-FLS) introduces an inverse-optimal control framework into the USV control architecture to avoid the difficulty of solving the HJB equation explicitly. The proposed design preserves fixed-time stability, while the transformation and switching functions eliminate the singularities induced by fixed-time terms. • To validate the effectiveness of the proposed control strategy, both simulations and marine experiments were conducted. A USV experimental platform was established, with waypoints planned on a nautical chart. A 4.9-meter USV performed waypoint-tracking tasks in open sea, demonstrating the feasibility and reliability of the proposed control approach in real marine environment. [ABSTRACT FROM AUTHOR]
ISSN:00190578
DOI:10.1016/j.isatra.2026.04.007