Abstract
This study focuses on the problem of finite-time tracking control for underactuated surface vessels (USVs) through sliding-mode control algorithms with external disturbances. Considering the nonexistence of relative degree caused by the underactuated property, the initial tracking error system is firstly transformed to a high order system for the possibility of applying a sliding-mode control algorithm. Subsequently, a finite-time controller based on an integral sliding surface (ISMS) is designed to achieve trajectory tracking. With the aid of this controller, the tracking errors converge to a steady state in a finite time. In contrast to the backstepping-based approach, the proposed method makes it possible to integrate controller design of position tracking and attitude tracking in one step, thus ensuring simplicity for implementation. Finally, theoretical analysis and numerical simulations are conducted to confirm the effectiveness of the proposed method.
Highlights
The adaptive finite-time tracking control issue of underactuated surface vessels (USVs) is tackled in the investigation
The adaptive finite‐time tracking control issue of USVs is tackled in the investigation with the employment of an integration design method
The position motion and the attitude motion are treated as a whole in the design process, which mainly relies on a thenovel attitude motion are treated as a whole inthe thefinite-time design process, which mainly relies on a model transformation approach
Summary
USVs have attracted a continuously growing interest from the academic community attributing to its broad ocean application prospects, such as inspection, surveillance, and oceanography study, etc. For these missions, trajectory tracking control technologies are of great significance, especially when the harsh ocean environment is taken into consideration. The ever-increasing complexity of marine environment and automation pose a variety of challenges for tracking a controller design of USVs. To guarantee desirable tracking performances, researchers have put forward a great diversity of control algorithms for USVs, involving prescribed performance control [1,2,3], backstepping control [4,5,6], and sliding-mode control [7,8,9]. Sliding-mode control has become a current research hotspot due to its robustness to external disturbances, model uncertainties, and system parametric variations
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