Predefined-Time Tracking Control of Unmanned Surface Vehicle under Complex Time-Varying Disturbances

Abstract

Aiming at the unmanned surface vehicle (USV) trajectory tracking control under complex time-varying environment, a predefined-time convergence sliding mode disturbance observer (PTC-SMO) is introduced to effectively handle the internal parameter uncertainties and external environmental disturbances, thereby guaranteeing precise compensation of the lumped disturbance term within a set time. Then, in order to achieve precise tracking of the desired trajectory using USV under a predetermined time constraint, a novel fast trajectory tracking control strategy with predefined-time convergence (PTC-FTTCS) is established to improve tracking performance and ensure that the trajectory tracking error converges quickly in the predefined time. Through rigorous comparative simulation under ideal conditions and time-varying disturbances, the results demonstrate reliable trajectory tracking and disturbance handling effects, and the tracking performance and disturbance observation performance are significantly better than state-of-the-art methods.