Fast Finite-Time Path-Following Control of Unmanned Surface Vehicles with Sideslip Compensation and Time-Varying Disturbances
Zhiping He | Guofeng Wang | Yunsheng Fan | Shuanghu Qiao
This paper studies the fast finite-time path following of underactuated unmanned surface vehicles (USV) with sideslip compensation, time-varying disturbances and input saturation. In the guidance module, the fast finite-time predictor-based line-of-sight (FFTPLOS) is proposed to overcome the large guidance angle and high-frequency oscillation and eliminate the sideslip angle with finite time. Then, the robust finite-time feedback control is applied to keep the vehicle following the desired path in the control module, where the reduced-order extended state observers (ROESO) are applied to deal with time-varying disturbances. Additionally, fast finite-time auxiliary dynamic systems with smoothly switching functions (FFTADS-SSF) achieve the saturation constraints on actuators with low consumption. The stability analysis proves that the guidance-control system of USVs is uniformly ultimately bounded stable within finite time. The effectiveness and performance of this proposed scheme are superior to the comparison schemes.
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