Trajectory tracking control of unmanned surface vehicle based on exponential global fast terminal sliding mode control

Abstract

This article studies the trajectory tracking of an underactuated unmanned surface vehicle. The trajectory tracking controller is divided into two parts: the kinematics controller and the dynamic controller. Taking the hull coordinate system of the unmanned surface vehicle as the datum plane, the kinematics controller is designed based on the backstepping method, and the virtual control input of the speed and the heading deviation of the ship are obtained. A dynamic controller is designed through an exponential sliding surface to stabilize the error of speed and heading deviation, thereby stabilizing the position error. In the process of designing the controller, the stability of the entire closed-loop control system is analyzed using Lyapunov stability theory. Finally, the designed numerical simulation experiment is carried out. The proposed exponential sliding mode controller is compared with the global integral sliding mode controller, and it is verified that the proposed controller has better effectiveness and robustness in the trajectory tracking of the underactuated unmanned surface vehicle.