Adaptive Sliding Mode Trajectory Tracking Control of Unmanned Surface Vessels Based on Time-Domain Wave Inversion

Abstract

In this work, we develop a trajectory tracking control method for unmanned surface vessels (USVs) based on real-time compensation for actual wave disturbances. Firstly, wave information from the actual sea surface is extracted through stereoscopic visual observations, and data preprocessing is performed using a task-driven point cloud downsampling network. We reconstruct the phase-resolved wave field in real time. Subsequently, the wave disturbances are modeled mechanically, and real-time wave disturbances are used as feedforward inputs. Furthermore, an adaptive backstepping sliding mode control law based on command filters is designed to avoid differential explosion and mitigate sliding mode chattering. An adaptive law is also designed to estimate and compensate for other external disturbances and inversion error bounds that cannot be computed in real time. Finally, the feasibility of the proposed control strategy is validated through stability analysis and numerical simulation experiments.