Trajectory Tracking Control of Unmanned Surface Vehicles Based on a Fixed-Time Disturbance Observer

Abstract

In ocean environments with unknown complex disturbances, the control accuracy for an unmanned surface vehicle (USV) is severely challenged with an increase in task complexity. As the foundation for executing complex tasks, it is particularly important to control a USV to navigate along a safe trajectory that has been set. In order to effectively handle the trajectory tracking problem, an innovative USV tracking control strategy with high accuracy is proposed by combining the integral sliding-mode and disturbance observer technologies, and these are effectively extended to a scenario with the cooperative trajectory tracking of multiple USVs in this study. Specifically, unknown disturbances are treated as lumped uncertainties, and a novel fixed-time stable-convergence disturbance observer (FT-DO) is proposed to effectively observe and approximate the lumped uncertainties. Then, in order to quickly reach and steadily navigate along the desired trajectory, an effective fixed-time stable-convergence fast integral sliding mode is modified, and on this basis, an accurate trajectory tracking controller (FTFISM-TTC) for a single USV and a cooperative trajectory tracking controller for multiple USVs are meaningfully proposed. Finally, the stability of FT-DO and FTFISM-TTC was rigorously proven by using the Lyapunov approach, and a comprehensive simulation of current advanced tracking control methods was conducted by using Matlab, which proved the reliability of the proposed trajectory tracking control strategy and further eliminated the impact of the initial state on the tracking accuracy.