Trajectory Tracking of Underactuated Unmanned Surface Vessels: Non-Singular Terminal Sliding Control with Nonlinear Disturbance Observer

Abstract

An underactuated unmanned surface vessel (USV) is a nonholonomic system, in which trajectory tracking is a challenging problem that has drawn more and more attention from researchers recently. The control of trajectory tracking is of critical importance since it determines whether the task can be carried out successfully. In this paper, a non-singular terminal sliding model (NTSM) controller is proposed for the trajectory tracking control of the underactuated USV, with a nonlinear disturbance observer which is designed to measure complex environmental disturbances such as wind, waves, and currents. Exploratory simulations were carried out and the results show that the proposed controller is effective and robust for the trajectory tracking of underactuated USVs in the presence of environmental disturbances.

Keywords

• underactuated unmanned surface vessel
• trajectory tracking
• non-singular terminal sliding control
• disturbance observer
• Lyapunov stability theorem