Finite Time Trajectory Tracking with Full-State Feedback of Underactuated Unmanned Surface Vessel Based on Nonsingular Fast Terminal Sliding Mode

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...

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Bibliographic Details
Main Authors: Donghao Xu, Zipeng Liu, Jiuzhen Song, Xueqian Zhou
Format: Article
Language:English
Published: MDPI AG 2022-12-01
Series:Journal of Marine Science and Engineering
Subjects:
nonsingular fast terminal sliding model
nonlinear extended state observer
finite time control
full-state feedback
trajectory tracking
Online Access:https://www.mdpi.com/2077-1312/10/12/1845

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