Path Following of Underactuated Autonomous Surface Vessels With Surge Velocity Constraint and Asymmetric Saturation

作     者：Yalei Yu Chen Guo Tieshan Li Yalei Yu;Chen Guo;Tieshan Li

作者机构：the School of Marine Electrical EngineeringDalian Maritime UniversityDalian 116026China the Department of Aeronautical and Automotive EngineeringLoughborough UniversityLoughborough LE113RHUK the School of Automation EngineeringUniversity of Electronic Science and Technology of ChinaChengdu 611731 the School of NavigationDalian Maritime UniversityDalian 116026China 

出 版 物：《IEEE/CAA Journal of Automatica Sinica》 (自动化学报（英文版）)

年 卷 期：2023年第10卷第5期

页      面：1343-1345页

核心收录：

学科分类：08[工学] 082402[工学-轮机工程] 0824[工学-船舶与海洋工程] 0802[工学-机械工程] 0811[工学-控制科学与工程] 080201[工学-机械制造及其自动化] 

基　　金：supported by the National Natural Science Foundation of China (51879027, 51939001, 61976033, 51579024, 61374114, 51809028) the Liaoning Revitalization Talents Program (XLYC1908018) the Natural Foundation Guidance Plan Project of Liaoning (2019-ZD-0151) the Cultivation Program for the Excellent Doctoral Dissertation of Dalian Maritime University the Fundamental Research Funds for the Central Universities (3132019318, 3132019345)。 

主　　题：dynamics saturation asymmetric 

摘      要：Dear Editor, This letter is concerned with the path following of underactuated autonomous surface vessels(ASV) in the presence of surge velocity constraint and asymmetric saturation as well as unknown dynamics.To cope with velocity constraints both magnitude and rate and asymmetric saturation as well as unknown dynamics, an adaptive finitetime sliding mode control scheme(AFTSM) is designed.