Finite-time H∞ control for marine surface vessel trajectory tracking with uncertainty and disturbance based on second-order sliding mode observer

Abstract

In this article, the trajectory tracking control problem of marine surface vessels (MSV) with uncertainties and time-varying disturbances is investigated. A robust adaptive trajectory tracking control scheme is proposed based on finite-time H <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</inf> control and a second-order sliding mode observer (SOSMO). The control scheme is simple in design, has strong robustness and fast convergence, and is not only globally stable in a finite-time in the closed-loop system, but also in a finite-time the expected attenuation level bounded by the L <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</inf> norm to obtain satisfactory performance.