文献类型：期刊文献

英文题名：Finite-time fast nonsingular terminal sliding mode path-following control for underactuated marine surface vehicles with input saturation

作者：Liu, Haitao[1,2];Sun, Ning[1,2];Ren, Gang[2]

机构：[1]Guangdong Ocean Univ, Sch Mech & Power Engn, Zhanjiang, Peoples R China;[2]Southern Marine Sci & Engn Guangdong Lab Zhanjiang, Zhanjiang, Peoples R China

年份：2022

卷号：262

外文期刊名：OCEAN ENGINEERING

收录：SCI-EXPANDED(收录号：WOS:000861316400003)、、EI(收录号：20223512639129)、Scopus(收录号：2-s2.0-85136497522)、WOS

基金：This work was supported by Guangdong Key Areas R & D Program Projects [grant number 2020B1111500001] , 2019 ? Chong First-class ? Provincial Financial Special Funds Construction Project [grant number 231419019] , the Key Project of DEGP [grant number 2021ZDZX1041] .

语种：英文

外文关键词：Finite -time FNTSM; Path following; MSV; Fixed -time extended state observer; Input saturation

外文摘要：In this paper, a finite-time fast nonsingular terminal sliding mode (FNTSM) control method based on predictive line-of-sight (LOS) guidance is designed for path-following control of marine surface vehicles (MSVs) in the presence of unknown external disturbances and uncertainties. First, predictive LOS guidance is designed to ac-quire the sideslip angle within a finite time by an error predictor. Second, a novel fixed-time lumped disturbance observer is developed to estimate the disturbances containing unknown environmental disturbances and un-certainties. Third, a finite-time FNTSM controller containing an auxiliary dynamical system is proposed to guarantee that the closed-loop system is finite-time stable. It can obtain a faster response and stronger robustness than asymptotic stability, and the auxiliary dynamical system is used to handle the system input saturation. Finally, the closed-loop system is proven to be uniformly finite-time stable (UFTS) by Lyapunov theorem anal-ysis. The proposed control strategy is demonstrated to be effective via numerical simulation experiments.