@inproceedings{a1dfdbf853c1480189d280dce65f06e6,
title = "Preset-Time Tracking Control for Unmanned Surface Vessels with Unknown Disturbance",
abstract = "In this paper, a backstepping-sliding mode tracking control strategy based on a new preset performance function is proposed for the trajectory tracking error constraint problem of the unmanned surface vessels (USV) under unknown disturbances. By constructing a new preset performance function, not only the upper bound of the state constraint is considered, but also the convergence time of the control system can be preset by adjusting the control parameters of the system. And a disturbance observer is designed to compensate the external environment interference. The fast power reaching law is used to eliminate the sliding mode chattering and enhance the robustness of the system. Finally, the stability of the closed-loop signal is proved based on Lyapunov stability theory. Simulation experiment shows that the USV with proposed controller can track the desired trajectory in a predefined time.",
keywords = "Disturbance Observer, Preset-time Tracking Control, USV",
author = "Wei Ren and Yujie Xu and Yingjie Wei",
note = "Publisher Copyright: {\textcopyright} Beijing HIWING Scientific and Technological Information Institute 2025.; 4th International Conference on Autonomous Unmanned Systems, ICAUS 2024 ; Conference date: 19-09-2024 Through 21-09-2024",
year = "2025",
doi = "10.1007/978-981-96-3560-3\_54",
language = "英语",
isbn = "9789819635597",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "613--623",
editor = "Lianqing Liu and Yifeng Niu and Wenxing Fu and Yi Qu",
booktitle = "Proceedings of 4th 2024 International Conference on Autonomous Unmanned Systems (4th ICAUS 2024)",
address = "德国",
}