文献类型：会议论文

英文题名：Finite-time H∞ control for marine surface vessel trajectory tracking with uncertainty and disturbance based on second-order sliding mode observer

作者：Liu, HaiTao[1,2]; Wang, ZhiCheng[1]

机构：[1] School of Mechanical and Power Engineering, Guangdong Ocean University, Zhanjiang, 524088, China; [2] Southern Marine Science and Engineering Guangdong Laboratory [Zhanjiang], Zhanjiang, 524000, China

会议论文集：Proceeding - 2021 China Automation Congress, CAC 2021

会议日期：October 22, 2021 - October 24, 2021

会议地点：Beijing, China

语种：英文

外文关键词：Closed loop control systems - Navigation - Trajectories

外文摘要：In this article, the trajectory tracking control problem of marine surface vessels (MSV) with uncertainties and time-varying disturbances is investigated. A robust adaptive trajectory tracking control scheme is proposed based on finite-time H∞ control and a second-order sliding mode observer (SOSMO). The control scheme is simple in design, has strong robustness and fast convergence, and is not only globally stable in a finite-time in the closed-loop system, but also in a finite-time the expected attenuation level bounded by the L2 norm to obtain satisfactory performance. ? 2021 IEEE