Integral sliding mode based finite-time trajectory tracking control of unmanned surface vehicles with input saturations

摘要

In this paper, subject to input saturations and unknown disturbances, finite-time trajectory tracking control of an unmanned surface vehicle (USV) is addressed by integral sliding mode control and homogeneous disturbance observer. A smooth function is employed to adaptively approximate the input saturation nonlinearity, and leaves the approximation residual as bounded uncertainty. The lumped unknown dynamics are exactly estimated in a short time by developing a homogeneous disturbance observer. Theoretical analysis reveals that the entire closed-loop tracking system with input saturations and external disturbances is globally finite-time stable. Simulation studies demonstrate the effectiveness and superiority of the proposed approach.