Tracking Control of Uncertain Surface Vessels with Global Finite-Time Convergence

Mien Van, Van Thach Do, Mohammad Omar Khyam, Xuan Phu Do

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This paper investigates an innovative control technique for uncertain surface vessels working in enhanced sea states to guarantee global finite-time convergence. First, a new finite-time backstepping approach is investigated. However, the effects of the uncertainties and disturbances reduce the closed-loop performance and prevent the global finite-time convergence of the system. In order to estimate these effects, an innovative finite-time disturbance observer is taken into consideration. The combination between the finite-time backstepping approach and the finite-time disturbance estimation creates a control system providing finite-time convergence of the system. The proposed approach is then tested on a tracking control problem for a surface vessel. The simulation results unveil the innovation of the proposed approach compared with existing ones.
Original languageEnglish
JournalOcean Engineering
Early online date26 Oct 2021
Publication statusEarly online date - 26 Oct 2021


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