Trajectory Tracking Control Algorithm of Underactuated Unmanned Surface Vessel Based on Adaptive Sliding Mode Control
For the prǒblems of uncertain mathematical parameters and unknown external time-varying disturbances in the trajec-tory tracking of underactuated unmanned surface vessel(USV),an adaptive sliding mode control strategy based on nonlinear disturb-ance observer and radial basis function neural network is put forward.Specifically,a novel trajectory tracking guidance law is pro-posed based on the three degree of freedom model of the USV and line of sight guidance law.An underactuated trajectory controller is designed by using adaptive sliding mode control technology,which effectively suppress the influence of the actuator fault.Meanwhile,the nonlinear disturbance observers and self-adaptive radial basis function neural network are introduced to estimate the unknown ex-ternal disturbance and model uncertainties,which effectively improve the robustness of the system.It is proved that the control sys-tem is stable based on Lyapunov function method,and the simulation test is conducted in MATLB.The simulation results show that the designed control system can achieve the precise control of underactuated USV in complex environments.Compared to the compari-son methods,the average position tracking error is reduced by more than 80％,which verifies the stability and robustness of the pro-posed method.
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