Tracking control of uncertain surface vessels with global finite-time convergence

• Main Authors: Van, Mien, Do, Van Thanh, Khyam, Mohammad Omar, Do, Xuan Phu
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2023
• Subjects: Engineering::Mechanical engineering; Control Of Surface Vessels; Finite-Time Convergence
• Online Access: https://hdl.handle.net/10356/164089
• Institution: Nanyang Technological University

This paper investigates an innovative control technique for uncertain surface vessels working in enhanced sea states to guarantee global finite-time convergence. First, a new finite-time backstepping approach is investigated. However, the effects of the uncertainties and disturbances reduce the closed-loop performance and prevent the global finite-time convergence of the system. In order to estimate these effects, an innovative finite-time disturbance observer is taken into consideration. The combination between the finite-time backstepping approach and the finite-time disturbance estimation creates a control system providing finite-time convergence of the system. The proposed approach is then tested on a tracking control problem for a surface vessel. The simulation results unveil the innovation of the proposed approach compared with existing ones.