Terminal Sliding Mode Tracking Control of Uncertain Surface Vessels with Iterative Learning Estimator

This paper investigates a fast terminal sliding mode finite time control strategy based on iterative learning estimator for uncertain surface vessels systems with external disturbances and parameter uncertainties. In order to estimate the lumped disturbance, an iterative learning estimator is proposed for accurately and quickly reconstructing the lumped uncertainty of external disturbances and nonlinear parts of the system without obtaining prior knowledge of the lumped disturbance. Next, a fast terminal sliding mode tracking controller is designed to solve the tracking problem of surface vessels. The stability of the surface vessels system using the command tracking control method with iterative learning estimator is analyzed by Lyapunov framework. Finally, the feasibility and superiority of the tracking control scheme is proved by comparing with different existing observers and control strategies through numerical simulations.