Abstract:

According to the problem of trajectory tracking control for an autonomous surface vehicle in the presence of unknown disturbance, and an adaptive methodology based on the finite time theory is proposed. Firstly, the control methodology is divided by backstepping into a kinematic control loop and a dynamic control loop. In the kinematic design, a fast terminal sliding surface (FTSS) is presented for the tracking error, and the auxiliary law of velocity is designed to derive the variables on the FTSS of the kinematic loop within a finite time. In the dynamic design, the auxiliary law of velocity is regarded as the tracking target and a FTSS is presented for the velocity tracking error. Then, a adaptive controller including the robust term is designed to derive the velocity tracking error in the small neighborhood of FTSS in finite time by considering external disturbance. The simulation experiment performed on a ship model is finally carried out to demonstrate the effectiveness of the proposed strategy.