Finite-time trajectory tracking control of under-actuated autonomous surface vessels based on non-singular terminal sliding mode

被引：0

作者：

Wang, X. ^{[1
]}

Li, S. ^{[1
]}

机构：

[1] School of Automation, Southeast University, Nanjing, PR

来源：

Australian Journal of Electrical and Electronics Engineering | 2012年 / 9卷 / 03期

关键词：

Finite-time control; Nonsingular terminal sliding mode control; Trajectory tracking; Under-actuated autonomous surface vessels;

D O I：

10.7158/E11-058.2012.9.3

中图分类号：

学科分类号：

摘要：

In this paper, the trajectory tracking control problem of under-actuated autonomous surface vessels is investigated. Both the parameter uncertainties and environmental disturbances are considered in system dynamics. By combining a trajectory planning method and the non-singular terminal sliding mode control technique, two global finite-time stabilising controllers for position tracking, ie. the surge controller and the lateral motion controller, are proposed. In order to reduce the chattering, the boundary layer method with a novel saturation function is employed to derive two modified continuous controllers. Simulations demonstrate the effectiveness of the proposed control scheme. © Institution of Engineers Australia 2012.

引用

页码：235 / 246

页数：11

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