@inproceedings{6efe07c69c1c4867b6a53eae0d72d747,
title = "Adaptive Prescribed Time Path Following Controller for Underactuated Surface Vessels",
abstract = "Heading control of marine vehicles is an important issue in navigation and control engineering. This paper investigates the design of a prescribed-time robust adaptive path following control problem of an underactuated surface vessel with parametric uncertainties, unknown disturbances and control input constraints. The establishment of prescribed-time property consists of a prescribed-time regulation of the steering control systems and novel prescribed-time Line of Sight (LOS) guidance control, both of which satisfy the prescribed-time requirement. The feasibility of separate independent control design for the steering and the guidance control systems is guaranteed through the development of new results on nonlinear prescribed-time cascade systems with non-vanishing uncertainties. The Lyapunov method is employed to show that the equilibrium point of the whole system is prescribed-time input to state stable. Numerical simulations are carried out to validate the performance of the proposed control strategy.",
keywords = "Adaptive Control, Cascade System, Line of Sight, Path-following, Prescribed-Time, Underactuated Surface Vessel",
author = "Jawhar Ghommam and Maarouf Saad and Quanmin Zhu and Rahman, \{Mohammed H.\}",
note = "Publisher Copyright: {\textcopyright} 2025 IEEE.; 13th International Conference on Intelligent Control and Information Processing, ICICIP 2025 ; Conference date: 06-02-2025 Through 11-02-2025",
year = "2025",
doi = "10.1109/ICICIP64458.2025.10898139",
language = "English",
series = "13th International Conference on Intelligent Control and Information Processing, ICICIP 2025",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "8--14",
booktitle = "13th International Conference on Intelligent Control and Information Processing, ICICIP 2025",
}