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 clos...