Finite-Time LOS Path Following of Unmanned Surface Vessels With Time-Varying Sideslip Angles and Input Saturation

• Published in: IEEE/ASME transactions on mechatronics Vol. 27; no. 1; pp. 463 - 474
• Main Authors: Yu, Yalei, Guo, Chen, Li, Tieshan
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.02.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuators; Convergence; Dynamic stability; Errors; Feedback control; Finite-time observer (FTOB); finite-time stability; Hyperbolic functions; integral terminal sliding mode control; Line of sight; line-of-sight (LOS) guidance; Navigation; Nonlinear feedback; Observers; path following; Saturation; Sideslip; Stability criteria; Surges; Trajectory planning; Uncertainty

In this article, a finite-time line-of-sight-based control (FTLC) scheme is presented for path following of unmanned surface vessels (USV) subject to unknown time-varying sideslip angles and input saturation as well as uncertainties induced by unknown internal dynamics and external disturbances. Spe...