Finite-time path following control for underactuated surface vessels with input dead-zone
WANG Yuan-hui
WANG Xin-wei
SHAO Xin-chao
REN Zhe-da
Abstract：This paper presents an adaptive finite-time path following control scheme for underactuated surface vessel-s in the presence of input dead-zone,model uncertainties and external environmental disturbances.Firstly,a finite-time surge-heading line-of-sight guidance law is designed to generate desired surge velocity and heading angle.Then,the adaptive finite-time surge and the heading controllers are developed to track reference signals via backstepping technique,where radial basis function neural network and minimum learning parameter algorithm are applied to approximate model uncertainties,and the adaptive technique is introduced to offset the lumped disturbances including unknown external envi-ronmental disturbances,approximation errors and input dead-zone.Besides,to reduce the computational burden inherent in backstepping technique,a second-order tracking differentiator is employed to generate derivative of the virtual heading control law.Based on the Lyapunov functions,it is proved that the closed-loop system is practical finite-time stable.Finally,simulation results are given to demonstrate the efficacy of the proposed scheme.
Keywords：underactuated surface vesselspath followinginput dead-zonefinite-timeneural networkminimum learning parameter algorithm
Publication Date：2025-03-31
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：10( 463-472 )