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》
会议日期：2017年
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] 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 performance.Salient 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 MSV.Simulation studies are ulteriorly conducted to verify the feasibility and remarkable performance of the proposed ISMTC scheme.