Saturated approximation-free prescribed performance trajectory tracking control for autonomous marine surface vehicle

Abstract

This paper devotes to tackling the saturated approximation-free tracking control problem for unmanned marine surface vehicles with prescribed performance metrics. Firstly, a smooth dead zone-based model is introduced herein to address the saturation nonlinearity. Then, the tracking error dynamics in presence of saturation constraints and uncertainties are formulated accordingly. After that, the capability to preset the evolution range of tracking errors is guaranteed by means of the prescribed performance technology. It follows that a saturated approximation-free control scheme is developed based on the sliding mode control. Notably, the lumped uncertainties and the saturation nonlinearity are well handled totally free of the online estimations such that the control scheme is simple and intuitiveness for implementation. It is theoretically verified that the controller can achieve the stabilization of the system. Finally, simulation results are presented to illustrate the controller's efficacy.