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Area-keeping robust sliding mode control for underactuated surface vehicle. (Chinese. English summary) Zbl 1463.93029

Summary: To solve the area-keeping control problem for an underactuated surface vehicle (USV) in the presence of external environmental disturbances, a robust sliding mode control strategy based on the symmetry barrier Lyapunov function (SBLF) was proposed to make USVs strictly satisfy the area-keeping boundary condition constraints. First, the design of the USV area-keeping controller was divided into the kinematic loop and the dynamic loop using the backstepping method. Second, in the kinematic loop, the desired velocities were designed and used as the virtual input, and the robust sliding mode method was used to realize the tracking control of the reference velocities in the dynamic loop. Third, the SBLF was introduced according to the position constraint condition to design the controller, so as to realize the position variable constraint and ensure that the USV is within the specified area. In addition, the semi-global asymptotic stability of the closed-loop system was proven by the Lyapunov stability theory, with the tracking errors converging to the specified neighborhood. Finally, computer simulation for USV with or without external environmental disturbances was carried out, and the simulation comparison results verified the effectiveness and robustness of the proposed control law.

MSC:

93B12 Variable structure systems
93B35 Sensitivity (robustness)
93D30 Lyapunov and storage functions
93D20 Asymptotic stability in control theory
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