Finite-time command-filtered autonomous docking control of underactuated unmanned surface vehicles with obstacle avoidance

Abstract

This paper presents a novel control strategy for the autonomous docking control of underactuated unmanned surface vehicle (USV). Firstly, a novel integration of finite-time command-filtered backstepping with an improved artificial potential field (APF), where the controller-generated force replaces the traditional APF attractive force, unifying path planning and motion control. Secondly, a finite-time command filter with error compensation to eliminate “explosion of complexity" and reduce filtering errors. Finally, the fuzzy logic system is embedded in the controller to suppress unknown nonlinear disturbances. The simulation outcomes provide concrete evidence of the control strategy’s successful implementation, emphasizing its feasibility and performance advantages.