Adaptive Fixed-Time Nonlinear Integral Sliding Mode Control for Trajectory Tracking of Unmanned Surface Vehicles under Unknown Disturbances
DOI:
https://doi.org/10.59247/jfsc.v4i3.432Keywords:
Adaptive Disturbance Compensation, Fixed-Time Control, Lyapunov Stability, Nonlinear Integral Sliding Mode Control, Trajectory Tracking, Unmanned Surface VehicleAbstract
This paper proposes an adaptive fixed-time nonlinear integral sliding mode control scheme for trajectory tracking of unmanned surface vehicles (USVs) subject to nonlinear hydrodynamics and unknown time-varying environmental disturbances. The three-degree-of-freedom USV model is transformed into an inertial-coordinate second-order form, and an integral sliding variable is combined with two power-type reaching terms and a leaky adaptive robust gain that does not require the unknown disturbance bound in the control law. The Lyapunov analysis explicitly distinguishes the ideal and implemented controllers. For the saturation-based implementation, the sliding variable enters an explicitly characterized invariant neighborhood within a fixed time independent of its initial value, and the tracking errors are uniformly ultimately bounded. For the ideal sign-based controller, exact fixed-time sliding and asymptotic tracking are recovered under a separate disturbance-dominance condition. Comparative simulations for circular and straight-line trajectories include computed-torque proportional-derivative and backstepping-proxy benchmarks. For the straight-line trajectory, the proposed method obtains a total tracking-error RMSE of 0.1601, representing reductions of 64.9% and 54.3% relative to the CT-PD and BS-proxy benchmarks, respectively, with a settling time of 0.981 s. The saturation implementation also produces practically smooth control inputs.
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