Accurate Trajectory Tracking of Disturbed Surface Vehicles: A Finite-Time Control Approach

In this paper, accurate trajectory tracking problem of a surface vehicle disturbed by complex marine environments is solved by creating a finite-time control (FTC) scheme whereby the nonsingular fast terminal sliding mode (NFTSM) and finite-time disturbance observer (FDO) techniques are deployed. Sa...

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Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics 2019-06, Vol.24 (3), p.1064-1074
Main Authors: Wang, Ning, Karimi, Hamid Reza, Li, Hongyi, Su, Shun-Feng
Format: Article
Language:English
Subjects:
Accurate trajectory tracking
Convergence
Disturbance observers
finite-time control (FTC)
finite-time disturbance observer (FDO)
Marine environment
Mechatronics
nonsingular fast terminal sliding mode (NFTSM)
Robustness
Sliding mode control
surface vehicle (SV)
Surface vehicles
Tracking errors
Tracking problem
Trajectories
Trajectory tracking
Vehicle dynamics
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Summary:In this paper, accurate trajectory tracking problem of a surface vehicle disturbed by complex marine environments is solved by creating a finite-time control (FTC) scheme whereby the nonsingular fast terminal sliding mode (NFTSM) and finite-time disturbance observer (FDO) techniques are deployed. Salient features are as follows. By devising an FDO, complex disturbances arising from marine environments can be exactly identified within a short time, in conjunction with the defined NFTSM manifold, and thereby contributing to exact trajectory tracking. Finite-time disturbance observation is completely decoupled from the nominal FTC scheme, and achieves stronger disturbance rejection and faster transient response, simultaneously. Both disturbance observation and trajectory tracking errors can exactly reach to zero in a finite time. Simulation results and comparisons are comprehensively conducted on CyberShip II and demonstrate remarkable superiority of the FTC scheme.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2019.2906395