Trajectory Tracking of Unmanned Surface Vehicle based on Terminal Sliding Mode

Abstract

The tracking problem of the unmanned surface vehicle system is considered in the paper. First, we propose a sliding mode controller (SMC) with nonsingular terminal method to reject the external disturbance. Then, a disturbance observer (DO) is designed to improve the accuracy of the trajectory tracking. Furthermore, the trajectory tracking of the unmanned surface vehicle is realized, then we use Lyapunov stability method to analyze the stability of the tracking error system. Finally, we use simulation to prove the superiority of the proposed method.