Finite time disturbance observer based non singular integral terminal sliding mode trajectory tracking control of unmanned surface vehicles
In this paper, a finite time disturbance observer based non singular integral terminal sliding mode tracking control scheme for trajectory tracking of an unmanned surface vehicle (USV) is proposed. The salient features of the proposed scheme are as follows: 1) The proposed control scheme contributes to precise trajectory tracking control of an USV. 2) Under the proposed control law, tracking errors can be stabilized to zero with a faster convergence rate than conventional backstepping based approaches. 3) It ensures that external disturbances can be identified exactly in a finite time, thereby leading to better robustness to complex disturbances. Simulation studies and comprehensive comparisons demonstrate the feasibility and superiority of the proposed control scheme for tracking an USV.
2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)