Finite-time kinematic path-following control of underactuated ASV with disturbance observer

• Published in: Automatika Vol. 65; no. 1; pp. 303 - 311
• Main Authors: Jin, Lina, Yu, Shuanghe, Shi, Guoyou, Wang, Xiaohong
• Format: Journal Article
• Language: English
• Published: Ljubljana Taylor & Francis Ltd 02.01.2024; Taylor & Francis Group
• Subjects: Closed loop systems; Closed loops; curve parametrized path; Design; Disturbance observer; Disturbance observers; Electrical engineering; Feedback control; finite-time control; Guidance (motion); kinematic path-following; Kinematics; Liapunov functions; Line of sight; Ocean currents; Robust control; Sliding mode control; Surface vehicles; underactuated ASV
• ISSN: 0005-1144; 1848-3380
• DOI: 10.1080/00051144.2023.2298099

Based on a line-of-sight (LOS) guidance law for a curve parametrized path, a finite-time backstepping control is proposed for the kinematic path-following of an underactuated autonomous surface vehicle (ASV). Finite-time observer is utilized to estimate the unknown external disturbances accurately. The first-order Levant differentiator is introduced into the finite-time filter technique, such that the output of filter can not only approximate the derivative of the virtual control, but also avoid the singularity problem of real heading control. The integral terminal sliding mode is employed to improve the tracking performance and converging rate in the surging velocity control. By virtue of Lyapunov function, all the signals in the closed-loop system can be guaranteed uniformly ultimate boundedness, and accurate path-following task can be fulfilled in finite time. The simulation results and comparative analysis validate the effectiveness and robustness of the proposed control approach.