Research on Ships Trajectory Tracking Algorithm Based on Adaptive Control

Abstract

This paper presents a fixed-time sliding mode control algorithm based on adaptive law for ships with disturbance. In the design of the controller, a dual layer nested adaptive scheme is used to reduce the chattering phenomenon, and the value of the control gain changes dynamically according to the external disturbance. Applying the fixed-time control theory to the research field of ships trajectory tracking can make the trajectory error independent of the initial state and reach the