Optimal specification of sliding mode control parameters for unmanned surface vessel systems

Review of nonlinear tracking and setpoint control approaches for autonomous underactuated marine vehicles

“…The method includes setpoint control as a special case of trajectory tracking control. The optimal determination of the sliding mode control tuning parameters that achieve a desired performance objective was presented by McNinch et al [72]. The controller was further extended to coordinated control [73] and obstacle avoidance [74] by the same authors.…”

Globally finite-time stable tracking control of underactuated UUVs

“…Nowadays, there are still various scholars to study these issues; see for example Aguiar and Hespanha (2007), Ashrafiuon et al (2008), Bi et al (2010), Cheng et al (2007), Do et al (2002Do et al ( , 2005Do et al ( , 2004, Jiang (2002), Kaminer et al (1998), McNinch et al (2009, Pettersen and Egeland (1999), Prasanth Kumar et al (2007), Raimondi and Melluso (2010), Papadopoulos, 2005 (2007), Sanyal et al (2011), Wang et al (2015Wang et al ( , 2012, Yu et al (2012). Brockett's theorem (Brockett, 1983) indicates that any smooth or continuous time-invariant feedback control law does not make the solution of the underactuated vehicle dynamics asymptotically stable.…”

“…In addition to Papadopoulos (2005, 2007), the yaw velocity is required to be nonzero, i.e., the restriction straight lines cannot be tracked. In Ashrafiuon et al (2008), McNinch et al (2009), and Yu et al (2012, the tracking control strategies based the sliding mode control theory were provided, and these controller can well surmount most of the limitations mentioned above. However, in most of the works, the drag force model is assumed to be a linear function with respect to the velocity in all three DOF motions, i.e., these results are suitable when the vehicles move at low velocities.…”

Trajectory Tracking Control of Underactuated USV with Model Perturbation and External Interference

“…Therefore, the trajectory of USV approach to the switching surface with exponential function. In order to prove the stability of USV systems, often by proving the yaw motion is bounded input bounded output stability (BIBO) [11]. Define the following Lyapunov function: In summary, the USV's yaw motion satisfies the BIBO characteristics.…”

“…1. the mathematical model of an underactuated USV moving in the horizontal plane can be described as follows [7]: m ur m ur 11 W is yaw moment generated by the combined action of propeller and rudder.…”