Fixed‐time sliding mode trajectory tracking control for marine surface vessels under mismatched conditions and input saturation

• DOI: 10.1002/rnc.7312
• Publication Date: 2024-03-13T04:15:21Z
• Authors: Jingqi Zhang; Shuanghe Yu; Yan Yan; Ying Zhao
• Keywords: Tracking (education); Tracking error; Mode (computer interface); Saturation (graph theory)

Summary This paper addresses a trajectory tracking control problem for marine surface vessels (MSVs) in the presence of mismatched conditions and input saturation. Firstly, an MSV model under is established to solve unreasonable modeling methods existing literature. Secondly, fixed‐time disturbance observers (FXDOs) are designed, where designed FXDOs not only avoid selecting complicated parameters but also has simple structures, estimation errors can converge origin within setting time. Thirdly, based on anti–saturation auxiliary dynamic system, scheme saturation constructed by virtue integral sliding mode (SMC), actual error signals uniformly bounded rather than finite‐time one. Fourthly, order decrease theoretical calculation values original time control, new three different parameter derived, thus reducing conservatism. Finally, simulation results provided show effectiveness superiority scheme.