Prescribed Performance Control for USV-UAV via a Robust Bounded Compensating Technique

In this article, to effectively implement the environmental monitoring mission around the perimeter of a rocky area, a prescribed performance control (PPC) scheme is proposed for an underactuted surface vehicle–underactuted aerial vehicle system using the robust bounded compensating technique (RBCT). First, a grid cell guidance law is introduced for rocky area scanning, considering the heterogeneous system's differing maneuverability. The grid cell undergoes a comprehensive calculation process to ensure that it meets operational requirements. Subsequently, a prescribed performance control scheme based on the RBCT is proposed to reduce design and computational complexity. A novel prescribed performance function is developed to regulate transient performance and initial errors. The RBCT is employed not only to eliminate system uncertainties but also to resolve the “calculation explosion” problem, thereby simplifying the control design. The system's global stability is proved via Lyapunov theory. Simulation results demonstrate the effectiveness of the PPC-RBCT scheme.