THE MOTION TRAJECTORY-BASED FINITE-TIME CONTROL FOR THE MARINE SURFACE VEHICLE

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H L Chen
H X Ren
B C Yang
J T Chen

Abstract

This brief is devoted to the predesigned motion trajectory-based finite time dynamic positioning (DP) control for a marine surface vehicle (MSV) with unknown external disturbances. Firstly, a preset motion trajectory is presented through establishing the relationship function among position tracking errors and heading tracking error, facilitating the MSV to arrive in the equilibrium point along the pre-designed trajectory. Furthermore, a novel nonsingular and fast terminal sliding mode control (NTSMC) approach is investigated, which ensures faster convergence rate and better stability performance of the close-loop system than the conventional backstepping control approach. What’s more, by incorporating the adaptive technique with the NTSMC approach, an adaptive nonsingular and fast terminal sliding mode control (ANTSMC) strategy is addressed. Compared to the NTSMC approach, it strengthens robustness to disturbances and guarantees system states to converge to a closer neighborhood of the equilibrium point. Finally, simulation results illustrate the remarkable effectiveness of proposed control schemes.


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