This brief copes with the finite-time heading tracking control for marine vehicles. The tracking error constraints, stochastic disturbance and dead-zone output are simultaneously taken into consideration in the controlled systems. To manage the dead-zone output issue, a smooth approximation model is brought in to offset the nondifferentiable phenomena during the control, besides, the adaptive technique and the Nussbaum function are simultaneously integrated into the design. For the tracking error constraints, the prescribed performance functions (PPF) with error transformations are designed, and novel stochastic Barrier Lyapunov functions are constructed accordingly depending on the newly tracking errors to deal with the constrained tracking control issue. To avert the “differential explosion” issue in the backstepping, the improved first-order filter technique is invoked. The proposed finite-time heading tracking control tactic renders that all variables are bounded, meanwhile, the tracking errors are kept in the pregiven boundaries. The effectiveness of theory results is substantiated via simulations.

中文翻译：

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具有跟踪误差约束的海洋车辆非奇异有限时间航向跟踪控制

本简介涉及海洋车辆的有限时间航向跟踪控制。受控系统同时考虑跟踪误差约束、随机扰动和死区输出。为了解决死区输出问题，引入平滑逼近模型来抵消控制过程中的不可微现象，此外，设计中同时集成了自适应技术和Nussbaum函数。对于跟踪误差约束，设计了带有误差变换的规定性能函数（PPF），并根据新的跟踪误差构造了新的随机Barrier Lyapunov函数来处理约束跟踪控制问题。为了避免反步中的“微分爆炸”问题，调用了改进的一阶滤波器技术。所提出的有限时间航向跟踪控制策略使得所有变量都是有界的，同时跟踪误差保持在给定的边界内。通过模拟验证了理论结果的有效性。