This paper addresses challenges in unmanned surface vessel (USV) trajectory tracking,such as significant errors induced by wind and waves,limited adaptability of adaptive gains,and vibrations in sliding mode control. A novel adaptive Super-Twisting sliding mode control algorithm is proposed to mitigate these issues. The USV mathematical model,derived from its structure,is transformed into a second-order system differential equation using trajectory reference points. An adaptive Super-Twisting sliding mode controller is designed,and adaptive gains ensuring closed-loop system stability are derived through the construction of a Lyapunov function. Simulation experiments,considering wind and wave resistance,compare the proposed method with Super-Twisting sliding mode control and traditional adaptive Super-Twisting sliding mode control. Results demonstrate a reduction in average tracking errors of 0.60 m and 0.27 m,respectively,over a 30-second simulation period,affirming the effectiveness of the proposed method in enhancing system control performance,suppressing vibrations,and reducing trajectory tracking errors.
维普
万方数据
