Trajectory Tracking Control of USV Based on Exponential Global Fast Terminal Sliding Mode Control

Abstract This paper studies the trajectory tracking of an under-driven surface unmanned surface vessel (USV). The trajectory tracking controller is divided into two parts: the kinematics controller and the dynamic controller. Taking the hull coordinate system of the USV as the datum plane, the kinematics controller is designed based on the backstepping method, and the virtual control input of the speed and the heading deviation of the ship is obtained. A dynamic controller is designed through an exponential sliding surface to stabilize the error of speed and heading deviation, thereby stabilizing the position error. In the process of designing the controller, the stability of the entire closed-loop control system is analyzed though using Lyapunov’s stability theory. Finally, the designed numerical simulation experiment is carried out. The proposed exponential sliding mode controller is compared with the global integral sliding mode controller, and it is verified that the proposed controller has better effectiveness and robustness in the trajectory tracking of the under-actuated USV. Insert your abstract here. Include keywords, PACS and mathematical subject classification numbers as needed.