High-gain observer-based fixed-time non-singular terminal sliding mode control for unmanned surface vehicles with actuator failures

Jiaming Zhang; Weixiang Zhou; Hengyu Li; Jiayu Dong; Yueying Wang

doi:10.1117/12.2686483

10 August 2023 High-gain observer-based fixed-time non-singular terminal sliding mode control for unmanned surface vehicles with actuator failures

Jiaming Zhang, Weixiang Zhou, Hengyu Li, Jiayu Dong, Yueying Wang

Author Affiliations +

Proceedings Volume 12759, International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2023); 127590U (2023) https://doi.org/10.1117/12.2686483
Event: 2023 3rd International Conference on Automation Control, Algorithm and Intelligent Bionics (ACAIB 2023), 2023, Xiamen, China

Abstract

The adaptive tracking control issue for the unmanned surface vehicle (USV) with actuator failures and disturbances is investigated. More specifically, a fixed-time high-order sliding mode observer is designed to estimate the actuator fault. Furthermore, a non-singular sliding mode controller (NSMC) is designed to solve the singular problem that may occur in the sliding mode function under certain circumstances. And then, by using the Lyapunov stability theory, we prove that the proposed control method can ensure all signals in the closed-loop system are bounded and the USV can track the desired trajectory in a fixed time. At last, the simulation example of the USV operating in the fixed-time tracking strategy demonstrates the effectiveness of the control method.

Citation Download Citation

Jiaming Zhang, Weixiang Zhou, Hengyu Li, Jiayu Dong, and Yueying Wang "High-gain observer-based fixed-time non-singular terminal sliding mode control for unmanned surface vehicles with actuator failures", Proc. SPIE 12759, International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2023), 127590U (10 August 2023); https://doi.org/10.1117/12.2686483

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