Abstract

In this paper, a finite-time trajectory tracking control approach is proposed for an unmanned surface vehicle (USV) with unknown external disturbances and input saturation. Significant contributions of this paper are as follows: 1) an auxiliary design system is employed to address input constraint effectively, and make sure control performance ideally; 2) an disturbance observer is designed via a robust homogeneous differentiator so that the unknown external disturbances can be exactly identified in finite-time; 3) the proposed finite-time controller can achieve an excellent tracking performance and enhance the robustness of the overall control system; 4) by the proposed control scheme, tracking errors can be rendered to zero faster than conventional backstepping approach as well as all the signals of the closed-loop are bounded. The simulation studies illustrate the effectiveness of the proposed approach.

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