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Nonsingular Terminal Sliding Mode Based Trajectory Tracking Control of an Autonomous Surface Vehicle with Finite-Time Convergence

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Advances in Neural Networks - ISNN 2017 (ISNN 2017)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 10262))

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Abstract

In this paper, a nonsingular terminal sliding mode (NTSM) based tracking control (NTSMTC) scheme for an autonomous surface vehicle (ASV) subject to unmodelled dynamics and unknown disturbances is proposed. The salient features of the NTSMTC scheme are as follows: (1) The NTSMTC scheme is designed by combining the NTSM technique with an established finite-time unknown observer (FUO) which enhances the system robustness significantly and achieves accurate tracking performance; (2) By virtue of the NTSMTC scheme, not only that unknown estimation errors are controlled to zero but also tracking errors can be stabilized to zero in a finite time; (3) The finite-time convergence of the entire closed-loop control system can be ensured by the Lyapunov approach. Simulation studies are further provided to demonstrate the effectiveness and remarkable performance of the proposed NTSMTC scheme for trajectory tracking control of an ASV.

N. Wang—This work is supported by the National Natural Science Foundation of P.R. China (under Grants 51009017 and 51379002), Applied Basic Research Funds from Ministry of Transport of P.R. China (under Grant 2012-329-225-060), China Postdoctoral Science Foundation (under Grant 2012M520629), the Fund for Dalian Distinguished Young Scholars (under Grant 2016RJ10), the Innovation Support Plan for Dalian High-level Talents (under Grant 2015R065), and the Fundamental Research Funds for the Central Universities (under Grant 3132016314).

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Authors and Affiliations

  1. Marine Engineering College, Dalian Maritime University, Dalian, China

    Shuailin Lv, Ning Wang, Yong Wang & Meng Joo Er

  2. Navigation College, Dalian Maritime University, Dalian, China

    Jianchuan Yin

  3. School of EEE, Nanyang Technological University, Singapore, Singapore

    Meng Joo Er

Authors
  1. Shuailin Lv
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  2. Ning Wang
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  3. Yong Wang
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  4. Jianchuan Yin
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  5. Meng Joo Er
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Corresponding author

Correspondence to Ning Wang .

Editor information

Editors and Affiliations

  1. Dalian University of Technology, Dalian, China

    Fengyu Cong

  2. City University of Hong Kong, Kowloon Tong, Hong Kong

    Andrew Leung

  3. Chinese Academy of Sciences, Beijing, China

    Qinglai Wei

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Lv, S., Wang, N., Wang, Y., Yin, J., Er, M.J. (2017). Nonsingular Terminal Sliding Mode Based Trajectory Tracking Control of an Autonomous Surface Vehicle with Finite-Time Convergence. In: Cong, F., Leung, A., Wei, Q. (eds) Advances in Neural Networks - ISNN 2017. ISNN 2017. Lecture Notes in Computer Science(), vol 10262. Springer, Cham. https://doi.org/10.1007/978-3-319-59081-3_11

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  • DOI: https://doi.org/10.1007/978-3-319-59081-3_11

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-59080-6

  • Online ISBN: 978-3-319-59081-3

  • eBook Packages: Computer ScienceComputer Science (R0)

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