Integral Sliding Mode Control of a Marine Surface Vehicle with Accurate Tracking Performance
作者单位：Marine Engineering CollegeDalian Maritime University
会议名称：《第36届中国控制会议》
会议届次：36
主办单位：Dalian University of Technology;Systems Engineering Society of China (SESC);Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA)
会议日期：2017年
学科分类：08[工学] 082402[工学-轮机工程] 0835[工学-软件工程] 0802[工学-机械工程] 0824[工学-船舶与海洋工程] 080201[工学-机械制造及其自动化]
基 金：supported by the National Natural Science Foundation of P.R.China(under Grants 51009017 and 51379002) the Fund for Dalian Distinguished Young Scholars(under Grant 2016RJ10) the Innovation Support Plan for Dalian High-level Talents(under Grant 2015R065) the Fundamental Research Funds for the Central Universities(under Grant3132016314)
关 键 词：Finite-time stability Integral sliding mode(ISM) Finite-time unknown observer(FUO) Trajectory tracking control Marine surface vehicle(MSV)
摘 要：In this paper,an integral sliding mode based tracking control(ISMTC) scheme is proposed for a marine surface vehicle(MSV) in order to achieve accurate tracking *** features of the ISMTC scheme are as follows:(1)The integral sliding mode(ISM) technique is employed to realize accurate tracking performance,whereby a finite-time unknown observer is designed and integrated into the ISMTC scheme so as to improve the robustness of the overall closed-loop system;(2)It is shown that complicated unknowns including uncertainties and external disturbances can be exactly reconstructed in a short time by using the ISMTC scheme;(3) Fast convergence rate and accurate tracking performance can be realized pertaining to the ISMTC scheme for trajectory tracking control of an *** studies are ulteriorly conducted to verify the feasibility and remarkable performance of the proposed ISMTC scheme.