Trajectory Tracking and Docking Control Strategy for Unmanned Surface Vehicles in Water-Based Search and Rescue Missions

Abstract

This paper investigates a global fixed-time control strategy for a search and rescue unmanned surface vehicle (SRUSV) targeting water rescue missions. Firstly, an improved time allocation trajectory generation (ITATG) method is proposed to generate a smooth and continuous desired trajectory, incorporating position, velocity, and acceleration information. Secondly, a fixed-time sideslip angle observer-based adaptive line-of-sight (FTSOALOS) guidance law is designed. This law integrates time-varying look-ahead distances with a fixed-time sideslip angle observer (FTSO) to ensure rapid convergence of positional errors within a fixed timeframe. Additionally, this paper employs a first-order fixed-time disturbance observer (FOFTDO) to accurately estimate external disturbances. To alleviate network pressure and reduce actuator failure rates, a fixed-time event-triggered sliding mode control (FTETSMC) mechanism is developed, ensuring the convergence of tracking errors within a fixed timeframe. Finally, using Lyapunov theory, this paper proves that the entire control system designed possesses consistent global fixed-time stability. Comparative simulation experiments validate the effectiveness and superiority of the FTSOALOS guidance law and the FTETSMC controller.