Tracking control of uncertain surface vessels with global finite-time convergence

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.

Automated summary

This study introduces an innovative control technique for uncertain surface vessels working in enhanced sea states, ensuring global finite-time convergence by combining finite-time backstepping approach with finite-time disturbance estimation. The proposed approach was tested on a tracking control problem for a surface vessel, demonstrating innovation compared to existing methods.