文献类型：期刊文献

英文题名：Nonsingular fast terminal sliding mode trajectory tracking control of surface vessel with disturbances

作者：Jianfei, Lin[1,2,3]; Tian, Xuehong[1,2,3]; Zhicheng, Wang[1,2,3]; Haitao, Liu[1,2,3]

机构：[1] Guangdong Ocean University, School of Mechanical and Power Engineering, Zhanjiang, 524088, China; [2] Southern Marine Science and Engineering, Guangdong Laboratory [Zhanjiang], Zhanjiang, 524000, China; [3] Guangdong Provincial Ocean Equipment and Manufacturing Engineering Technology Research Center, Zhanjiang, 524088, China

年份：2020

起止页码：2091

外文期刊名：Proceedings - 2020 Chinese Automation Congress, CAC 2020

收录：EI(收录号：20210809955518)

基金：This work was supported by the 2019 "Chong First-class" Provincial Financial Special Funds Construction Project [grant number 231419019], the Natural Science Foundation of Guangdong Province in China [grant number 2018A0303130076], the Science and Technology Planning Project of Zhanjiang City [grant number 2017A02025, 2017A03005, 2018A01019] and the Fund of Southern Marine Science and Engineering Guangdong Laboratory (Zhanjiang) (grant number ZJW-2019-01).

语种：英文

外文关键词：Trajectories - Navigation - Unmanned surface vehicles

外文摘要：This paper deals with the trajectory tracking control of unmanned surface vessel (USV) with time-varying external environmental disturbances. The unknown disturbances are estimated by the observers, and a new tracking robust controller with disturbance observers is designed using nonsingular fast terminal sliding mode (NFTSM) technology. The controller can ensure fast convergence speed, avoid singularity and has strong robustness. Finally, a simulation experiment of 3-D USV trajectory tracking control with unknown disturbances is given. The results show that the control law is fast convergent and robust to external disturbances. ? 2020 IEEE.