Trajectory tracking control for marine vessels with error constraints : A barrier function sliding mode approach

The finite-time trajectory tracking control problem of marine vessels (MVs) subject to the position and velocity tracking error constraints and unknown disturbances is investigated. To achieve this goal, a barrier function-based adaptive nonsingular terminal sliding mode control (BFANTSMC) approach is proposed. First, a barrier function nonsingular terminal sliding mode manifold (BFNTSMM) integrated the barrier function with the terminal sliding surface is designed to cope with the position and velocity error constraints. Second, based on the one-way switching principle, a non-overestimated adaptive reaching law is proposed to ensure the finite-time reachability of the sliding variable to a predetermined domain independent of the boundaries of the lumped disturbances. Finally, the tracking errors converge to the predefined domain in finite time while the prescribed constraints on tracking errors cannot be violated. Numerical simulations show the remarkable advantages of the proposed approach.

• Record URL:
  • https://doi.org/10.1016/j.oceaneng.2024.116879
• Record URL:
  • http://www.sciencedirect.com/science/article/pii/S0029801824002166
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/00298018
• Supplemental Notes:
  • © 2024 Elsevier Ltd. All rights reserved. Abstract reprinted with permission of Elsevier.
• Authors:
  • Cao, Gang
  • 0000-0001-6847-9992
  • Jia, Zehua
  • 0000-0001-9936-5883
  • Wu, Di
  • Li, Zhenhua
  • 0000-0001-9475-6033
  • Zhang, Weidong
  • 0000-0002-4700-1276
• Publication Date: 2024-4-1

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: 116879
• Serial:
  • Ocean Engineering
  • Volume: 297
  • Issue Number: 0
  • Publisher: Pergamon
  • ISSN: 0029-8018
  • EISSN: 1873-5258
  • Serial URL: http://www.sciencedirect.com/science/journal/00298018

Subject/Index Terms

• TRT Terms: Constraints; Errors; Ships; Sliding mode control; Tracking systems; Trajectory control
• Subject Areas: Marine Transportation; Vehicles and Equipment;

Filing Info

• Accession Number: 01910267
• Record Type: Publication
• Files: TRIS
• Created Date: Feb 28 2024 9:14AM