文献类型：期刊文献

英文题名：Robust Finite-time Convergent Trajectory Tracking Control for Unmanned Surface Vehicle

作者：Liu, Haitao[1]; Zou, Lanping[1]

机构：[1] Guangdong Ocean University, School of Mechanical and Power Engineering, Zhanjiang, 524088, China

年份：2019

起止页码：4124

外文期刊名：Proceedings - 2019 Chinese Automation Congress, CAC 2019

收录：EI(收录号：20201008253696)

基金：This work was supported by the Natural Science Foundation of Guangdong Province in China [grant number 2018A0303130076], the 2019 "Chong First-class" Provincial Financial Special Funds Construction Project [grant number 231419019], the Science and Technology Planning Project of Zhanjiang City[grant number 2017A02025], the Fostering Plan for Major Scientific Research Projects of Education Department of Guangdong Province Characteristic Innovation Projects (grant number 2017KTSCX087 ), and the Guangdong Science and Technology Project (grant number 2013B011304009).

语种：英文

外文关键词：Controllers - Sliding mode control - Numerical methods - Navigation - Unmanned surface vehicles

外文摘要：This paper proposed a robust finite-time convergent trajectory tracking control method for unmanned surface vehicle (USV) with dynamic model parameter uncertainties and disturbances of the external marine environment. Firstly, kinematics loop virtual controller is designed to transform surge and sway velocities to virtual control input. Secondly, in the dynamic loop, by defining a first order exponentially stable surface and sliding proportional derivative surface, a robust finite-time convergent controller is designed. Then, we use Lyapunov stability theorem to know that the control system tends to be stable in a finite time. Finally, numerical example demonstrate that the proposed control method is effective. ? 2019 IEEE.