Abstract
In this paper, a nonsingular terminal sliding mode (NTSM) based tracking control (NTSMTC) scheme for an autonomous surface vehicle (ASV) subject to unmodelled dynamics and unknown disturbances is proposed. The salient features of the NTSMTC scheme are as follows: (1) The NTSMTC scheme is designed by combining the NTSM technique with an established finite-time unknown observer (FUO) which enhances the system robustness significantly and achieves accurate tracking performance; (2) By virtue of the NTSMTC scheme, not only that unknown estimation errors are controlled to zero but also tracking errors can be stabilized to zero in a finite time; (3) The finite-time convergence of the entire closed-loop control system can be ensured by the Lyapunov approach. Simulation studies are further provided to demonstrate the effectiveness and remarkable performance of the proposed NTSMTC scheme for trajectory tracking control of an ASV.
N. Wang—This work is supported by the National Natural Science Foundation of P.R. China (under Grants 51009017 and 51379002), Applied Basic Research Funds from Ministry of Transport of P.R. China (under Grant 2012-329-225-060), China Postdoctoral Science Foundation (under Grant 2012M520629), the Fund for Dalian Distinguished Young Scholars (under Grant 2016RJ10), the Innovation Support Plan for Dalian High-level Talents (under Grant 2015R065), and the Fundamental Research Funds for the Central Universities (under Grant 3132016314).
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Wang, N., Er, M.J.: Direct adaptive fuzzy tracking control of marine vehicles with fully unknown parametric dynamics and uncertainties. IEEE Trans. Control Syst. Technol. 24(5), 1845–1852 (2016)
Wang, N., Er, M.J.: Self-constructing adaptive robust fuzzy neural tracking control of surface vehicles with uncertainties and unknown disturbances. IEEE Trans. Control Syst. Technol. 23(3), 991–1002 (2015)
Feng, Y., Yu, X.H., Man, Z.H.: Non-singular terminal sliding mode control of rigid manipulators. Automatica 38(12), 2159–2167 (2002)
Hong, Y.G., Xu, Y.S., Huang, J.: Finite-time control for robot manipulators. Syst. Control Lett. 46(4), 243–253 (2002)
Qian, C.J., Lin, W.: A continuous feedback approach to global strong stabilization of nonlinear systems. IEEE Trans. Autom. Control 46(7), 1061–1079 (2002)
Wang, N., Qian, C.J., Sun, J.C., Liu, Y.C.: Adaptive robust finite-time trajectory tracking control of fully actuated marine surface vehicles. IEEE Trans. Control Syst. Technol. 24(4), 1454–1462 (2016)
Wang, N., Lv, S.L., Liu, Z.Z.: Global finite-time heading control of surface vehicles. Neurocomputing 175, 662–666 (2016)
Shtessel, Y.B., Shkolnikov, I.A., Levant, A.: Smooth second-order sliding modes: missile guidance application. Automatica 43(8), 1470–1476 (2007)
Bhat, S.P., Bernstein, D.S.: Finite-time stability of homogeneous systems. In: Proceedings of the 1997 American Control Conference, pp. 2513–2514 (1997)
Skjetne, R., Fossen, T.I., Kokotovi’c, P.V.: Adaptive maneuvering with experiments for a model ship in a marine control laboratory. Automatica 41(2), 289–298 (2005)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Lv, S., Wang, N., Wang, Y., Yin, J., Er, M.J. (2017). Nonsingular Terminal Sliding Mode Based Trajectory Tracking Control of an Autonomous Surface Vehicle with Finite-Time Convergence. In: Cong, F., Leung, A., Wei, Q. (eds) Advances in Neural Networks - ISNN 2017. ISNN 2017. Lecture Notes in Computer Science(), vol 10262. Springer, Cham. https://doi.org/10.1007/978-3-319-59081-3_11
Download citation
DOI: https://doi.org/10.1007/978-3-319-59081-3_11
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-59080-6
Online ISBN: 978-3-319-59081-3
eBook Packages: Computer ScienceComputer Science (R0)