Passivity-Based Sliding Mode Control for the Robust Trajectory Tracking of Unmanned Surface Vessels Under External Disturbances and Model Uncertainty
This study uses a port-Hamiltonian framework to address trajectory tracking control for unmanned surface vessels (USVs) under unknown disturbances. A passivity-based sliding mode controller is designed, integrating adaptive disturbance estimation and an RBFNN-based uncertainty estimator. Stability is rigorously proven, and simulations confirm superior tracking performance, strong disturbance rejection, and accurate uncertainty estimation.
Authors
- Shaojun Pang (ORCID: https://orcid.org/0000-0003-3119-3469)
- Yao He
- Weijun Zhou
- Lifeng Ma (ORCID: https://orcid.org/0000-0002-1839-6803)
- Yongxin Wu (ORCID: https://orcid.org/0000-0003-1397-7147)
- Yanjun Li (ORCID: https://orcid.org/0000-0003-4676-6223)
Institutions
- Centre National de la Recherche Scientifique (FR)
- Franche-Comté Électronique Mécanique Thermique et Optique - Sciences et Technologies (FR)
- Hangzhou City University
- Université Marie et Louis Pasteur (FR)
Publication Details
- Journal
- Journal of Marine Science and Engineering
- Published
- 2025-02-16
- DOI
- https://doi.org/10.3390/jmse13020364
- Citations
- 3
- Primary Topic
- Adaptive Control of Nonlinear Systems
- Type
- article
- Field-Weighted Citation Impact
- 3.64
Funders
- Agence Nationale de la Recherche