Integral Sliding Mode Based Finite-Time Tracking Control for Underactuated Surface Vessels with External Disturbances

This study focuses on the problem of finite-time tracking control for underactuated surface vessels (USVs) through sliding-mode control algorithms with external disturbances. Considering the nonexistence of relative degree caused by the underactuated property, the initial tracking error system is fi...

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Autores principales:	Yunfei Xiao, Yuan Feng, Tao Liu, Xiuping Yu, Xianfeng Wang
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	finite-time control tracking control adaptive control underactuated surface vessels Naval architecture. Shipbuilding. Marine engineering VM1-989 Oceanography GC1-1581
Acceso en línea:	https://doaj.org/article/9d06b904f220412c862d772a21c6c1eb
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id	oai:doaj.org-article:9d06b904f220412c862d772a21c6c1eb
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spelling	oai:doaj.org-article:9d06b904f220412c862d772a21c6c1eb2021-11-25T18:04:17ZIntegral Sliding Mode Based Finite-Time Tracking Control for Underactuated Surface Vessels with External Disturbances10.3390/jmse91112042077-1312https://doaj.org/article/9d06b904f220412c862d772a21c6c1eb2021-11-01T00:00:00Zhttps://www.mdpi.com/2077-1312/9/11/1204https://doaj.org/toc/2077-1312This study focuses on the problem of finite-time tracking control for underactuated surface vessels (USVs) through sliding-mode control algorithms with external disturbances. Considering the nonexistence of relative degree caused by the underactuated property, the initial tracking error system is firstly transformed to a high order system for the possibility of applying a sliding-mode control algorithm. Subsequently, a finite-time controller based on an integral sliding surface (ISMS) is designed to achieve trajectory tracking. With the aid of this controller, the tracking errors converge to a steady state in a finite time. In contrast to the backstepping-based approach, the proposed method makes it possible to integrate controller design of position tracking and attitude tracking in one step, thus ensuring simplicity for implementation. Finally, theoretical analysis and numerical simulations are conducted to confirm the effectiveness of the proposed method.Yunfei XiaoYuan FengTao LiuXiuping YuXianfeng WangMDPI AGarticlefinite-time controltracking controladaptive controlunderactuated surface vesselsNaval architecture. Shipbuilding. Marine engineeringVM1-989OceanographyGC1-1581ENJournal of Marine Science and Engineering, Vol 9, Iss 1204, p 1204 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	finite-time control tracking control adaptive control underactuated surface vessels Naval architecture. Shipbuilding. Marine engineering VM1-989 Oceanography GC1-1581
spellingShingle	finite-time control tracking control adaptive control underactuated surface vessels Naval architecture. Shipbuilding. Marine engineering VM1-989 Oceanography GC1-1581 Yunfei Xiao Yuan Feng Tao Liu Xiuping Yu Xianfeng Wang Integral Sliding Mode Based Finite-Time Tracking Control for Underactuated Surface Vessels with External Disturbances
description	This study focuses on the problem of finite-time tracking control for underactuated surface vessels (USVs) through sliding-mode control algorithms with external disturbances. Considering the nonexistence of relative degree caused by the underactuated property, the initial tracking error system is firstly transformed to a high order system for the possibility of applying a sliding-mode control algorithm. Subsequently, a finite-time controller based on an integral sliding surface (ISMS) is designed to achieve trajectory tracking. With the aid of this controller, the tracking errors converge to a steady state in a finite time. In contrast to the backstepping-based approach, the proposed method makes it possible to integrate controller design of position tracking and attitude tracking in one step, thus ensuring simplicity for implementation. Finally, theoretical analysis and numerical simulations are conducted to confirm the effectiveness of the proposed method.
format	article
author	Yunfei Xiao Yuan Feng Tao Liu Xiuping Yu Xianfeng Wang
author_facet	Yunfei Xiao Yuan Feng Tao Liu Xiuping Yu Xianfeng Wang
author_sort	Yunfei Xiao
title	Integral Sliding Mode Based Finite-Time Tracking Control for Underactuated Surface Vessels with External Disturbances
title_short	Integral Sliding Mode Based Finite-Time Tracking Control for Underactuated Surface Vessels with External Disturbances
title_full	Integral Sliding Mode Based Finite-Time Tracking Control for Underactuated Surface Vessels with External Disturbances
title_fullStr	Integral Sliding Mode Based Finite-Time Tracking Control for Underactuated Surface Vessels with External Disturbances
title_full_unstemmed	Integral Sliding Mode Based Finite-Time Tracking Control for Underactuated Surface Vessels with External Disturbances
title_sort	integral sliding mode based finite-time tracking control for underactuated surface vessels with external disturbances
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/9d06b904f220412c862d772a21c6c1eb
work_keys_str_mv	AT yunfeixiao integralslidingmodebasedfinitetimetrackingcontrolforunderactuatedsurfacevesselswithexternaldisturbances AT yuanfeng integralslidingmodebasedfinitetimetrackingcontrolforunderactuatedsurfacevesselswithexternaldisturbances AT taoliu integralslidingmodebasedfinitetimetrackingcontrolforunderactuatedsurfacevesselswithexternaldisturbances AT xiupingyu integralslidingmodebasedfinitetimetrackingcontrolforunderactuatedsurfacevesselswithexternaldisturbances AT xianfengwang integralslidingmodebasedfinitetimetrackingcontrolforunderactuatedsurfacevesselswithexternaldisturbances
_version_	1718411697438326784

Integral Sliding Mode Based Finite-Time Tracking Control for Underactuated Surface Vessels with External Disturbances

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