Disturbance observer based finite-time trajectory tracking control of unmanned surface vehicles with unknown dead-zones

摘要

In this paper, a finite-time trajectory tracking control approach is proposed for an unmanned surface vehicle (USV) with unknown dead-zones and unknown disturbances. External disturbances can be observed exactly by a robust homogeneous differentiator with finite-time convergence. Based on the information of the bounds of the dead-zone slopes as well as treating the time-varying inputs coefficients as system uncertainties, a finite-time controller for trajectory tracking of an USV is eventually addressed via the non-singular terminal sliding mode control technique. Moreover, the boundary layer method with a novel saturation function is employed to reduce the chattering and to ensure that tracking errors can be rendered to zero in a finite time. Simulation results demonstrate the effectiveness of the proposed approach.