Disturbance-Observer-Based Sliding Mode Control Design for Nonlinear Unmanned Surface Vessel With Uncertainties

Abstract

Unmanned surface vessel (USV) has been widely applied due to its advantages in the maritime security inspection and resources exploration. Good trajectory tracking performance is a critical issue in the control design of USV. However, most of the existing controllers are designed based on linear dynamic model or do not well consider the integrated effect nonlinearities, various uncertainties (e.g., modeling error and parameter variations) and external disturbance (wind, wave, current, etc). In this paper, a nonlinear dynamic model is established for USV with the integrate consideration of these issues, and a disturbance-observer-based sliding mode control design is subsequently proposed to achieve the good tracking performance, where the observer is to estimate and compensate the modeling uncertainties and external disturbance. Theoretically, the stability of the observer and overall closed-loop system of USV are guaranteed via the Lyapunov theorem. The comparative simulation is carried out, and the results show the fast response, better transient performance and robustness of the proposed control design.

Keywords

• Sliding mode control
• disturbance observer
• unmanned surface vessel (USV)
• Lyapunov stability theorem