Global Fixed-time Trajectory Tracking Control of Surface Vehicles

In this paper, the problem of trajectory tracking control of surface vehicles is investigated. Based on fixed-time theory, a novel control scheme is proposed. Under the proposed control law, the vehicle can track the desired trajectory within finite time upper bounded by a constant independent of initial tracking error, while guarantee that all signals in the closed-loop tracking control system are globally fixed-time stable. In addition, the compensator-based command filtered control technique make the designed control law simple and easy to implement in practice. A simulation example is include to demonstrate the effectiveness and the performance of proposed control scheme.