Disturbance observer–based fixed-time sliding mode trajectory tracking control for marine surface vehicles with uncertain dynamics

Author:

Wang Taiqi1ORCID,Wang Chang1,Yan Shengyu1,Liu Yongtao1

Affiliation:

1. School of Automobile, Chang’an University, China

Abstract

In this paper, a fixed-time sliding mode control scheme is developed to fulfill the trajectory tracking task of a marine surface vehicle with unknown dynamics. To restrain the adverse effects of the unknown dynamics including the parameter inaccuracy and exogenous disturbances, a fixed-time disturbance observer is designed to estimate the lumped uncertainties using the bi-limit homogeneous theory without requiring any knowledge of the model uncertainties. Then, a nominal tracking controller is proposed to stabilize the error dynamic model in the sense of fixed-time Lyapunov stability, based on which a novel integral-type sliding mode manifold with bi-limit homogeneity is constructed to drive tracking error convergence in fixed time. To enhance the robustness of the vessel control system, a disturbance observer–based fixed-time integral sliding mode tracking controller is finally proposed, and the chattering phenomenon is effectively alleviated by direct estimation compensations. The analysis of Lyapunov stability indicates that the closed-loop system is fixed-time stable. Numerical simulations on a model vessel are carried out to validate theoretical results of the proposed control scheme.

Funder

Fundamental Research Funds for the Central Universities, CHD

Key Research and Development Projects of Shaanxi Province

National Natural Science Foundation of China

Publisher

SAGE Publications

Subject

Instrumentation

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