Work

Passivity-Based Sliding Mode Control for the Robust Trajectory Tracking of Unmanned Surface Vessels Under External Disturbances and Model Uncertainty

Year: 2025

Type: article

Abstract: 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.

Source: Journal of Marine Science and Engineering

DOI: 10.3390/jmse13020364

Authors: Luke Ma, Siyi Pang, Yao He, Yongxin Wu, Yanjun Li, Weijun Zhou

Institutions: Hangzhou City University, Centre National de la Recherche Scientifique, Franche-Comté Électronique Mécanique Thermique et Optique - Sciences et Technologies, Université Marie et Louis Pasteur

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $3,137

Funder: Agence Nationale de la Recherche