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Finite time stable path following system with nonlinear parameter varying model for USV.

Yanwei Huang1, Jingxin Zhang1, Ao Lin1

  • 1College of Electrical Engineering and Automation, Fuzhou University, Fuzhou, 350108, China.

ISA Transactions
|March 28, 2026
PubMed
Summary

This study introduces a new path following system for unmanned surface vehicles (USVs) using a second-order sliding mode vector field guidance law (SOSVFG) and a finite-time stable controller (FTSNPV). The system improves navigation safety and heading control for USVs facing velocity variations and disturbances.

Keywords:
Finite time stabilityNonlinear parameter-varyingPath followingSpeed vector field guidanceUSV

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Area of Science:

  • Robotics and Control Systems
  • Marine Engineering
  • Autonomous Systems

Background:

  • Unmanned Surface Vehicles (USVs) face challenges in path following due to velocity variations and unknown disturbances.
  • Existing control systems often struggle with maintaining performance under dynamic and uncertain operating conditions.

Purpose of the Study:

  • To develop a novel path following system for USVs that enhances navigation safety and heading regulation.
  • To address the impact of velocity variations and unknown disturbances on USV path performance.

Main Methods:

  • Reformulated USV model incorporating kinematic and nonlinear parameter-varying (NPV) dynamics.
  • Designed a second-order sliding mode vector field guidance law (SOSVFG) with a non-singular terminal sliding surface.
  • Developed a finite-time stable controller (FTSNPV) using H∞ robust control and finite-time stability theories.
  • Utilized projection theorem, matrix transformation, and sum-of-squares (SOS) programming for controller parameter computation.

Main Results:

  • The SOSVFG generated smoother paths at high speeds, significantly enhancing navigation safety.
  • The FTSNPV controller demonstrated excellent dynamic and steady-state performance in heading regulation.
  • The proposed system showed superior performance in simulations and experiments compared to existing methods.

Conclusions:

  • The novel path following system effectively mitigates the impact of velocity variations and disturbances on USV performance.
  • The integrated SOSVFG and FTSNPV controller offers a robust solution for safe and accurate USV navigation.
  • This research contributes to the advancement of autonomous marine vehicle control systems.