文献类型：会议论文

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

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

机构：[1]Guangdong Ocean Univ, Sch Mech & Power Engn, Zhanjiang 524088, Peoples R China; Guangdong Lab Zhanjiang, Southern Marine Sci & Engn, Zhanjiang 524000, Peoples R China; Guangdong Prov Ocean Equipment & Mfg Engn Technol, Zhanjiang 524088, Peoples R China

会议论文集：Chinese Automation Congress (CAC)

会议日期：NOV 06-08, 2020

会议地点：Shanghai, PEOPLES R CHINA

语种：英文

外文关键词：Nonsingular fast terminal sliding mode; USV control; disturbance observer

外文摘要：This paper deals with the trajectory tracking control 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.