Adaptive integral terminal super‐twisting with finite‐time convergence for an unmanned surface vehicle under disturbances

Abstract

This article proposes a robust trajectory tracking controller for underactuated unmanned surface vehicles under disturbances. An adaptive integral terminal super-twisting algorithm is designed for guidance and control, following a cascade strategy. The properties of such algorithm include practical finite-time (PFT) convergence, robustness against bounded disturbances/uncertainties with unknown boundaries, and chattering attenuation via adaptive gains.A stability analysis is addressed to prove the PFT stability of the overall system.Moreover, the vehicle is subject to wind, waves, and water currents disturbance models to verify the robustness with numerical simulations. Furthermore, real-time experiments under an extra payload and environmental perturbations with unknown boundaries validate the performance with a prototype. Finally, a comparison against the adaptive super-twisting algorithm with conventional sliding surface further demonstrates the advantages of the proposed scheme.

Model Simplification for Asymmetric Marine Vehicles in Horizontal Motion—Verification of Selected Tracking Control Algorithms

“…In this case, the disturbance was variable. An adaptive sliding mode control was verified experimentally in [40], whereas an adaptive integral terminal super-twisting algorithm was designed for guidance and control according to a cascade strategy in [41]. In both papers, it was assumed that the off-diagonal terms of the inertial matrices were small compared to the main diagonal terms and could, therefore, be neglected.…”

Identification of Multi-Innovation Stochastic Gradients with Maximum Likelihood Algorithm Based on Ship Maneuverability and Wave Peak Models

“…However, the above methods do not consider the problem that, under wind and wave disturbances, the ship's heading will sway with the wave disturbances, and the automatic steering gear will strike the rudder when there is a heading deviation [48][49][50]. In order to avoid frequent steering under wind and wave disturbances, wave filters need to be designed [51][52][53].…”