Finite Time Trajectory Tracking with Full-State Feedback of Underactuated Unmanned Surface Vessel Based on Nonsingular Fast Terminal Sliding Mode
Marine transportation and operations have attracted the attention of more and more countries and scholars in recent years. A full-state finite time feedback control scheme is designed for the model parameters uncertainty, unknown ocean environment disturbances, and unmeasured system states in the un...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-12-01
|
| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/10/12/1845 |
| _version_ | 1797456915258671104 |
|---|---|
| author | Donghao Xu Zipeng Liu Jiuzhen Song Xueqian Zhou |
| author_facet | Donghao Xu Zipeng Liu Jiuzhen Song Xueqian Zhou |
| author_sort | Donghao Xu |
| collection | DOAJ |
| description | Marine transportation and operations have attracted the attention of more and more countries and scholars in recent years. A full-state finite time feedback control scheme is designed for the model parameters uncertainty, unknown ocean environment disturbances, and unmeasured system states in the underactuated Unmanned Surface Vessel (USV) trajectory tracking control. The external wind, wave and current environmental disturbances and model parameters perturbation are extended by Nonlinear Extended State Observer (NESO) to the state of the system, namely complex disturbances. The complex disturbances, positions and velocities of USV can be observed by NESO and feedback to USV control system. Next, the underactuated USV error model is obtained by operating the obtained feedback information and the virtual ship model. According to the error model, a Nonsingular Fast Terminal Sliding Model surface (NFTSM) is constructed to realize finite-time control. The control law is deduced through the Lyapunov stability theory to ensure the stability of the system. The results of MATLAB numerical simulations under different disturbances show that the trajectory tracking algorithm has fast responses, and a good convergence of the errors is observed, which verifies the effectiveness of the designed scheme. |
| first_indexed | 2024-03-09T16:14:42Z |
| format | Article |
| id | doaj.art-374912c572f747b59d86d2c7647e8008 |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-09T16:14:42Z |
| publishDate | 2022-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-374912c572f747b59d86d2c7647e80082023-11-24T15:55:19ZengMDPI AGJournal of Marine Science and Engineering2077-13122022-12-011012184510.3390/jmse10121845Finite Time Trajectory Tracking with Full-State Feedback of Underactuated Unmanned Surface Vessel Based on Nonsingular Fast Terminal Sliding ModeDonghao Xu0Zipeng Liu1Jiuzhen Song2Xueqian Zhou3College of Automation, Harbin University of Science and Technology, Harbin 150080, ChinaCollege of Automation, Harbin University of Science and Technology, Harbin 150080, ChinaThe 714 Research Institute of CSSC, Beijing 100101, ChinaCollege of Shipbuilding Engineering, Harbin Engineering University, Harbin 150001, ChinaMarine transportation and operations have attracted the attention of more and more countries and scholars in recent years. A full-state finite time feedback control scheme is designed for the model parameters uncertainty, unknown ocean environment disturbances, and unmeasured system states in the underactuated Unmanned Surface Vessel (USV) trajectory tracking control. The external wind, wave and current environmental disturbances and model parameters perturbation are extended by Nonlinear Extended State Observer (NESO) to the state of the system, namely complex disturbances. The complex disturbances, positions and velocities of USV can be observed by NESO and feedback to USV control system. Next, the underactuated USV error model is obtained by operating the obtained feedback information and the virtual ship model. According to the error model, a Nonsingular Fast Terminal Sliding Model surface (NFTSM) is constructed to realize finite-time control. The control law is deduced through the Lyapunov stability theory to ensure the stability of the system. The results of MATLAB numerical simulations under different disturbances show that the trajectory tracking algorithm has fast responses, and a good convergence of the errors is observed, which verifies the effectiveness of the designed scheme.https://www.mdpi.com/2077-1312/10/12/1845nonsingular fast terminal sliding modelnonlinear extended state observerfinite time controlfull-state feedbacktrajectory tracking |
| spellingShingle | Donghao Xu Zipeng Liu Jiuzhen Song Xueqian Zhou Finite Time Trajectory Tracking with Full-State Feedback of Underactuated Unmanned Surface Vessel Based on Nonsingular Fast Terminal Sliding Mode Journal of Marine Science and Engineering nonsingular fast terminal sliding model nonlinear extended state observer finite time control full-state feedback trajectory tracking |
| title | Finite Time Trajectory Tracking with Full-State Feedback of Underactuated Unmanned Surface Vessel Based on Nonsingular Fast Terminal Sliding Mode |
| title_full | Finite Time Trajectory Tracking with Full-State Feedback of Underactuated Unmanned Surface Vessel Based on Nonsingular Fast Terminal Sliding Mode |
| title_fullStr | Finite Time Trajectory Tracking with Full-State Feedback of Underactuated Unmanned Surface Vessel Based on Nonsingular Fast Terminal Sliding Mode |
| title_full_unstemmed | Finite Time Trajectory Tracking with Full-State Feedback of Underactuated Unmanned Surface Vessel Based on Nonsingular Fast Terminal Sliding Mode |
| title_short | Finite Time Trajectory Tracking with Full-State Feedback of Underactuated Unmanned Surface Vessel Based on Nonsingular Fast Terminal Sliding Mode |
| title_sort | finite time trajectory tracking with full state feedback of underactuated unmanned surface vessel based on nonsingular fast terminal sliding mode |
| topic | nonsingular fast terminal sliding model nonlinear extended state observer finite time control full-state feedback trajectory tracking |
| url | https://www.mdpi.com/2077-1312/10/12/1845 |
| work_keys_str_mv | AT donghaoxu finitetimetrajectorytrackingwithfullstatefeedbackofunderactuatedunmannedsurfacevesselbasedonnonsingularfastterminalslidingmode AT zipengliu finitetimetrajectorytrackingwithfullstatefeedbackofunderactuatedunmannedsurfacevesselbasedonnonsingularfastterminalslidingmode AT jiuzhensong finitetimetrajectorytrackingwithfullstatefeedbackofunderactuatedunmannedsurfacevesselbasedonnonsingularfastterminalslidingmode AT xueqianzhou finitetimetrajectorytrackingwithfullstatefeedbackofunderactuatedunmannedsurfacevesselbasedonnonsingularfastterminalslidingmode |