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ESO-Based Non-Singular Terminal Filtered Integral Sliding Mode Backstepping Control for Unmanned Surface Vessels.

Jianping Yuan^1,2,3,4, Zhuohui Chai¹, Qingdong Chen¹

¹Naval Architecture and Shipping College, Guangdong Ocean University, Zhanjiang 524091, China.

Sensors (Basel, Switzerland)

|January 25, 2025

Summary

This study introduces a novel control strategy for unmanned surface vessels (USVs) to enhance heading control in complex environments. The advanced method improves stability and tracking accuracy, making USVs more reliable.

Keywords:

ESO heading tracking non-singular terminal sliding mode path tracking unmanned surface vessels

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Area of Science:

Robotics and Control Systems
Marine Engineering
Applied Mathematics

Background:

Unmanned Surface Vessels (USVs) face significant control challenges in dynamic environments due to nonlinearities, parameter uncertainties, and external perturbations.
Existing control strategies often struggle with robustness and precise trajectory tracking in complex marine settings.

Purpose of the Study:

To develop an advanced non-singular terminal integral sliding mode control strategy for USVs.
To enhance the heading control, adaptive ability, and anti-interference capabilities of USVs in challenging conditions.
To improve the engineering practicability and reliability of USV control systems.

Main Methods:

Utilized a third-order linear extended state observer (ESO) to estimate total system disturbances.
Designed a backstepping sliding mode controller incorporating a non-singular terminal integral sliding mode surface with a double power convergence law.
Employed a second-order sliding mode filter to mitigate differential explosion issues inherent in traditional backstepping methods.

Main Results:

The proposed control algorithm demonstrated superior convergence speed and adaptive capabilities compared to traditional linear backstepping sliding mode control.
Enhanced anti-interference performance was observed, crucial for maintaining control in complex and unpredictable environments.
Simulation results validated the effectiveness and improved engineering practicability of the novel control strategy.

Conclusions:

The non-singular terminal integral sliding mode control strategy based on ESO offers a more efficient and reliable solution for precise heading control and path tracking of USVs.
This approach significantly improves USV performance in complex and dynamic marine environments.
The findings contribute to the advancement of autonomous marine navigation and control technologies.