Adaptive Fast Non-Singular Terminal Sliding Mode Path Following Control for an Underactuated Unmanned Surface Vehicle with Uncertainties and Unknown Disturbances

This paper focuses on an issue involving robust adaptive path following for the uncertain underactuated unmanned surface vehicle with time-varying large sideslips angle and actuator saturation. An improved line-of-sight guidance law based on a reduced-order extended state observer is proposed to add...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	Yunsheng Fan, Bowen Liu, Guofeng Wang, Dongdong Mu
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	unmanned surface vehicle path following line-of-sight sensor application fast non-singular terminal sliding mode control Chemical technology TP1-1185
Acceso en línea:	https://doaj.org/article/958383ac0133445f8b79e5ea3128ba76
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:958383ac0133445f8b79e5ea3128ba76
record_format	dspace
spelling	oai:doaj.org-article:958383ac0133445f8b79e5ea3128ba762021-11-25T18:56:34ZAdaptive Fast Non-Singular Terminal Sliding Mode Path Following Control for an Underactuated Unmanned Surface Vehicle with Uncertainties and Unknown Disturbances10.3390/s212274541424-8220https://doaj.org/article/958383ac0133445f8b79e5ea3128ba762021-11-01T00:00:00Zhttps://www.mdpi.com/1424-8220/21/22/7454https://doaj.org/toc/1424-8220This paper focuses on an issue involving robust adaptive path following for the uncertain underactuated unmanned surface vehicle with time-varying large sideslips angle and actuator saturation. An improved line-of-sight guidance law based on a reduced-order extended state observer is proposed to address the large sideslip angle that occurs in practical navigation. Next, the finite-time disturbances observer is designed by considering the perturbations parameter of the model and the unknown disturbances of the external environment as the lumped disturbances. Then, an adaptive term is introduced into Fast Non-singular Terminal Sliding Mode Control to design the path following controllers. Finally, considering the saturation of actuator, an auxiliary dynamic system is introduced. By selecting the appropriate design parameters, all the signals of the whole path following a closed-loop system can be ultimately bounded. Real-time control of path following can be achieved by transferring data from shipborne sensors such as GPS, combined inertial guidance and anemoclinograph to the Fast Non-singular Terminal Sliding Mode controller. Two examples as comparisons were carried out to demonstrate the validity of the proposed control approach.Yunsheng FanBowen LiuGuofeng WangDongdong MuMDPI AGarticleunmanned surface vehiclepath followingline-of-sightsensor applicationfast non-singular terminal sliding mode controlChemical technologyTP1-1185ENSensors, Vol 21, Iss 7454, p 7454 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	unmanned surface vehicle path following line-of-sight sensor application fast non-singular terminal sliding mode control Chemical technology TP1-1185
spellingShingle	unmanned surface vehicle path following line-of-sight sensor application fast non-singular terminal sliding mode control Chemical technology TP1-1185 Yunsheng Fan Bowen Liu Guofeng Wang Dongdong Mu Adaptive Fast Non-Singular Terminal Sliding Mode Path Following Control for an Underactuated Unmanned Surface Vehicle with Uncertainties and Unknown Disturbances
description	This paper focuses on an issue involving robust adaptive path following for the uncertain underactuated unmanned surface vehicle with time-varying large sideslips angle and actuator saturation. An improved line-of-sight guidance law based on a reduced-order extended state observer is proposed to address the large sideslip angle that occurs in practical navigation. Next, the finite-time disturbances observer is designed by considering the perturbations parameter of the model and the unknown disturbances of the external environment as the lumped disturbances. Then, an adaptive term is introduced into Fast Non-singular Terminal Sliding Mode Control to design the path following controllers. Finally, considering the saturation of actuator, an auxiliary dynamic system is introduced. By selecting the appropriate design parameters, all the signals of the whole path following a closed-loop system can be ultimately bounded. Real-time control of path following can be achieved by transferring data from shipborne sensors such as GPS, combined inertial guidance and anemoclinograph to the Fast Non-singular Terminal Sliding Mode controller. Two examples as comparisons were carried out to demonstrate the validity of the proposed control approach.
format	article
author	Yunsheng Fan Bowen Liu Guofeng Wang Dongdong Mu
author_facet	Yunsheng Fan Bowen Liu Guofeng Wang Dongdong Mu
author_sort	Yunsheng Fan
title	Adaptive Fast Non-Singular Terminal Sliding Mode Path Following Control for an Underactuated Unmanned Surface Vehicle with Uncertainties and Unknown Disturbances
title_short	Adaptive Fast Non-Singular Terminal Sliding Mode Path Following Control for an Underactuated Unmanned Surface Vehicle with Uncertainties and Unknown Disturbances
title_full	Adaptive Fast Non-Singular Terminal Sliding Mode Path Following Control for an Underactuated Unmanned Surface Vehicle with Uncertainties and Unknown Disturbances
title_fullStr	Adaptive Fast Non-Singular Terminal Sliding Mode Path Following Control for an Underactuated Unmanned Surface Vehicle with Uncertainties and Unknown Disturbances
title_full_unstemmed	Adaptive Fast Non-Singular Terminal Sliding Mode Path Following Control for an Underactuated Unmanned Surface Vehicle with Uncertainties and Unknown Disturbances
title_sort	adaptive fast non-singular terminal sliding mode path following control for an underactuated unmanned surface vehicle with uncertainties and unknown disturbances
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/958383ac0133445f8b79e5ea3128ba76
work_keys_str_mv	AT yunshengfan adaptivefastnonsingularterminalslidingmodepathfollowingcontrolforanunderactuatedunmannedsurfacevehiclewithuncertaintiesandunknowndisturbances AT bowenliu adaptivefastnonsingularterminalslidingmodepathfollowingcontrolforanunderactuatedunmannedsurfacevehiclewithuncertaintiesandunknowndisturbances AT guofengwang adaptivefastnonsingularterminalslidingmodepathfollowingcontrolforanunderactuatedunmannedsurfacevehiclewithuncertaintiesandunknowndisturbances AT dongdongmu adaptivefastnonsingularterminalslidingmodepathfollowingcontrolforanunderactuatedunmannedsurfacevehiclewithuncertaintiesandunknowndisturbances
_version_	1718410541093879808

Adaptive Fast Non-Singular Terminal Sliding Mode Path Following Control for an Underactuated Unmanned Surface Vehicle with Uncertainties and Unknown Disturbances

Ejemplares similares