Abstract

In this paper, a global finite-time tracking control (GFTC) scheme is proposed for trajectory tracking control of an autonomous surface vehicle (ASV). The salient features of the GFTC scheme are triple fold: 1) A discontinuous controller is developed to realize the finite-time stability of the closed-loop ASV trajectory tracking system. 2) The GFTC scheme can render tracking errors converge to zero with faster convergence rate than traditional asymptotic and exponential controllers. 3) Moreover, it can treat conventional asymptotic approaches as special cases. Simulation studies and comprehensive comparisons demonstrate the effectiveness and remarkable performance of the proposed GFTC scheme for an ASV.

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