Integral sliding mode control of a marine surface vehicle with accurate tracking performance

Abstract

In this paper, an integral sliding mode based tracking control (ISMTC) scheme is proposed for a marine surface vehicle (MSV) in order to achieve accurate tracking performance. Salient features of the ISMTC scheme are as follows: (1) The integral sliding mode (ISM) technique is employed to realize accurate tracking performance, whereby a finite-time unknown observer is designed and integrated into the ISMTC scheme so as to improve the robustness of the overall closed-loop system; (2) It is shown that complicated unknowns including uncertainties and external disturbances can be exactly reconstructed in a short time by using the ISMTC scheme; (3) Fast convergence rate and accurate tracking performance can be realized pertaining to the ISMTC scheme for trajectory tracking control of an MSV. Simulation studies are ulteriorly conducted to verify the feasibility and remarkable performance of the proposed ISMTC scheme.