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<p>This paper discusses the practical prescribed-time output feedback trajectory tracking control for marine surface vessels (MSVs) with unmeasurable states and internal/external uncertainties. A novel time-varying high-gain function is first introduced to guarantee convergence of the tracking errors within a designer-specified time. To handle lumped disturbances and unmeasurable states, an adaptive extended state observer is developed, whose convergence is ensured within the same time frame. Furthermore, a controller is designed to achieve trajectory tracking with guaranteed convergence speed. The stability of the overall scheme is rigorously established using Lyapunov theory. Simulation results on a scaled MSV model verify the effectiveness and practicality of the proposed output feedback control approach.</p>

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Extended state observer-based practical prescribed-time output feedback trajectory tracking control for marine surface vessels

  • 期刊论文

  • 发表日期：

    2026年1月22日

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  • Chengtao Cai,
  • Daohui Zeng,
  • Yongchao Liu,
  • Jie Zhao

摘要

This paper discusses the practical prescribed-time output feedback trajectory tracking control for marine surface vessels (MSVs) with unmeasurable states and internal/external uncertainties. A novel time-varying high-gain function is first introduced to guarantee convergence of the tracking errors within a designer-specified time. To handle lumped disturbances and unmeasurable states, an adaptive extended state observer is developed, whose convergence is ensured within the same time frame. Furthermore, a controller is designed to achieve trajectory tracking with guaranteed convergence speed. The stability of the overall scheme is rigorously established using Lyapunov theory. Simulation results on a scaled MSV model verify the effectiveness and practicality of the proposed output feedback control approach.