Super-Twisting Sliding Mode Control for the Trajectory Tracking of Underactuated USVs with Disturbances

Liu, Wei; Ye, Hui; Yang, Xiaofei

doi:10.3390/jmse11030636

Cited by 22 publications

(7 citation statements)

References 29 publications

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“…According to Equation (35), the derivative of both sides of Equation ( 36) with respect to time can be obtained as follows:…”

Section: Stability Analysis Of the Nonlinear Disturbance Observer Of ...mentioning

confidence: 99%

“…The authors in [34], to achieve autonomous cooperative formation control of underactuated USVs in a complex ocean environment, adopted a dual MPC approach based on a virtual trajectory. The authors in [35] showed that time-varying external disturbances affected the accuracy of trajectory tracking. To ensure trajectory tracking accuracy, a reduced-order extended-state observer and the super-twisting second-order sliding mode controller were proposed.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Trajectory Tracking Predictive Control for Unmanned Surface Vehicles with Improved Nonlinear Disturbance Observer

Fu,

Yao,

Cajo

et al. 2023

JMSE

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The motion of unmanned surface vehicles (USVs) is frequently disturbed by ocean wind, waves, and currents. A poorly designed controller will cause failures and safety problems during actual navigation. To obtain a satisfactory motion control performance for the USVs, a model predictive control (MPC) method based on an improved Nonlinear Disturbance Observer (NDO) is proposed. First, the USV model is approximately linearized and MPC is designed for the multivariable system with constraints. To compensate for the influence of disturbances, an improved NDO is designed where the calculation time for MPC is reduced. Finally, comparison simulations are conducted between MPC with the original NDO and MPC with an improved NDO, and the results show that they have similar performances to the USVs. However, the proposed method has fewer parameters that need to be tuned and is much more time-saving compared to MPC with a traditional NDO.

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“…According to Equation (35), the derivative of both sides of Equation ( 36) with respect to time can be obtained as follows:…”

Section: Stability Analysis Of the Nonlinear Disturbance Observer Of ...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Trajectory Tracking Predictive Control for Unmanned Surface Vehicles with Improved Nonlinear Disturbance Observer

Fu,

Yao,

Cajo

et al. 2023

JMSE

View full text Add to dashboard Cite

show abstract

“…Moreover, its convergence time is independent of the initial states. (2) In contrast to [21,22], the prescribed performance control technology is introduced to always keep the trajectory tracking error within the preset constraint range to ensure the system's transient and steady-state performance. (3) Combining backstepping control, command filter, and fixed-time control theory, a fixed-time prescribed performance control law is designed to make the trajectory tracking error converge in a fixed time.…”

Section: Introductionmentioning

confidence: 99%

Fixed-Time Trajectory Tracking Control of Fully Actuated Unmanned Surface Vessels with Error Constraints

Sui,

Zhang,

Liu

et al. 2024

JMSE

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This paper proposes a fixed-time prescribed performance control technique to address the challenge of precise trajectory tracking control for unmanned surface vessels (USVs) in the presence of external time-varying disturbances and input saturation. To begin with, a fixed-time disturbance observer is created to handle the time-varying external interference. The observer can accurately estimate and compensate for the disturbance in a fixed time, which effectively improves the robustness of the system. Furthermore, to guarantee both the transient and steady-state response of the system, we employed a specific control technology that ensures the trajectory tracking error remains within a preset bounded range. Then, combined with the fixed-time disturbance observer, the command filter, the prescribed performance control technology, and the fixed-time stability theory, a fixed-time trajectory tracking control law is designed to make the trajectory tracking error of the system converge in a fixed time. Finally, an experiment was designed to validate the suggested control scheme. The results show that under the same conditions, compared with the nonlinear controller and the finite-time controller, the absolute error tracking index of this paper is the lowest, which means that the presented control scheme has higher accuracy.

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“…Actual ocean environments have various unknown disturbances, and due to the limitations of sea trials, it is not possible to identify all USV model parameters. Therefore, one must accurately identify the internal and external disturbances present in a tracking system before designing a trajectory tracking controller [21]. The classical disturbance identification methods include active disturbance rejection control, neural network approximation, and Kalman filtering.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Tracking Control of Unmanned Surface Vehicles Based on a Fixed-Time Disturbance Observer

et al. 2023

Electronics

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In ocean environments with unknown complex disturbances, the control accuracy for an unmanned surface vehicle (USV) is severely challenged with an increase in task complexity. As the foundation for executing complex tasks, it is particularly important to control a USV to navigate along a safe trajectory that has been set. In order to effectively handle the trajectory tracking problem, an innovative USV tracking control strategy with high accuracy is proposed by combining the integral sliding-mode and disturbance observer technologies, and these are effectively extended to a scenario with the cooperative trajectory tracking of multiple USVs in this study. Specifically, unknown disturbances are treated as lumped uncertainties, and a novel fixed-time stable-convergence disturbance observer (FT-DO) is proposed to effectively observe and approximate the lumped uncertainties. Then, in order to quickly reach and steadily navigate along the desired trajectory, an effective fixed-time stable-convergence fast integral sliding mode is modified, and on this basis, an accurate trajectory tracking controller (FTFISM-TTC) for a single USV and a cooperative trajectory tracking controller for multiple USVs are meaningfully proposed. Finally, the stability of FT-DO and FTFISM-TTC was rigorously proven by using the Lyapunov approach, and a comprehensive simulation of current advanced tracking control methods was conducted by using Matlab, which proved the reliability of the proposed trajectory tracking control strategy and further eliminated the impact of the initial state on the tracking accuracy.

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Super-Twisting Sliding Mode Control for the Trajectory Tracking of Underactuated USVs with Disturbances

Cited by 22 publications

References 29 publications

Trajectory Tracking Predictive Control for Unmanned Surface Vehicles with Improved Nonlinear Disturbance Observer

Trajectory Tracking Predictive Control for Unmanned Surface Vehicles with Improved Nonlinear Disturbance Observer

Fixed-Time Trajectory Tracking Control of Fully Actuated Unmanned Surface Vessels with Error Constraints

Trajectory Tracking Control of Unmanned Surface Vehicles Based on a Fixed-Time Disturbance Observer

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