{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,17]],"date-time":"2026-03-17T07:39:36Z","timestamp":1773733176172,"version":"3.50.1"},"reference-count":32,"publisher":"MDPI AG","issue":"22","license":[{"start":{"date-parts":[[2024,11,6]],"date-time":"2024-11-06T00:00:00Z","timestamp":1730851200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Natural Science Foundation of China","award":["62473373"],"award-info":[{"award-number":["62473373"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>This work studies the dynamic positioning (DP) control issue of unmanned surface vessels subjected to thruster saturation, error constraints, and lumped disturbances composed of time-varying marine environmental disturbances and model parameter uncertainties. Combining the disturbance-accurate estimation technique and the prescribed performance control strategy, a novel prescribed-time DP control scheme is established to address this challenging problem. In particular, the prescribed-time lumped disturbance observer is designed to accurately estimate external marine disturbances, which guarantees that the estimation error converges to zero within a prescribed time. Subsequently, a prescribed performance control strategy is proposed to guarantee that the positioning errors of DP surface vessels with thruster saturation constraints meet the error constraints requirements within a prescribed time. Furthermore, an anti-windup compensator is presented to mitigate the thruster saturation and improve the robustness of the DP control system. The stability analysis demonstrates that all positioning errors of the closed-loop system can converge to predefined performance constraints within a prescribed time. Finally, the numerical simulation confirms the efficacy and superiority of the proposed PTDP scheme.<\/jats:p>","DOI":"10.3390\/rs16224142","type":"journal-article","created":{"date-parts":[[2024,11,6]],"date-time":"2024-11-06T09:16:51Z","timestamp":1730884611000},"page":"4142","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Prescribed-Time Dynamic Positioning Control for USV with Lumped Disturbances, Thruster Saturation and Prescribed Performance Constraints"],"prefix":"10.3390","volume":"16","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4285-8729","authenticated-orcid":false,"given":"Bowen","family":"Sui","sequence":"first","affiliation":[{"name":"College of Weaponry Engineering, Naval University of Engineering, Wuhan 430033, China"}]},{"given":"Jianqiang","family":"Zhang","sequence":"additional","affiliation":[{"name":"College of Weaponry Engineering, Naval University of Engineering, Wuhan 430033, China"}]},{"given":"Zhong","family":"Liu","sequence":"additional","affiliation":[{"name":"College of Weaponry Engineering, Naval University of Engineering, Wuhan 430033, China"}]}],"member":"1968","published-online":{"date-parts":[[2024,11,6]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Badrloo, S., Varshosaz, M., Pirasteh, S., and Li, J. 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