Finite-time control for USV path tracking under input saturation with random disturbances

Abstract

In this paper, a finite-time path tracking control method for unmanned surface vessel (USVs) subject to random disturbances and input saturation is proposed. A class of noise may be non-white one is employed to describe wave disturbance more accurately for real sea conditions. The constraints are considered to describe the limited output force of USVs. A finite-time control strategy is introduced to ensure that the requirements of tracking the desired position and heading within finite time. The noise-to-state stability in probability (NSS-P) within finite time, under an asymptotic gain in probability (AG-P) of state signals, is proved via the theoretical framework of random differential equations (RDEs). Finally, simulation results are presented to show the effectiveness of the designed finite-time path tracking control scheme.