Event-Triggered Mechanism and Nonsingular Fast Terminal Sliding Mode Control for Fixed-Time Trajectory Tracking of Underactuated Ships
Year: 2025
Type: preprint
Abstract: This paper proposes a fixed-time trajectory tracking control strategy for underactuated ships by combining a virtual control law, fixed-time extended state observer (FTEO), nonsingular fast terminal sliding mode control (NFTSMC) and event-triggered mechanism. Firstly, a fixed-time convergent virtual control law is proposed, which improves the convergence speed of position errors when the velocity error tend to zero. Secondly, the FTEO is utilized to estimate and compensate the velocity and aggregate perturbations. And a saturated auxiliary system is designed to solve the limitation problem of actuator output. Thirdly, a fixed-time NFTSMC law is designed to enable that the ships can track the desired trajectory in a fixed time. Meanwhile, the event trigger-mechanism is introduced to reduce the update frequency of ship controllers and minimize actuator losses. Finally, three simulation experiments are verified that the proposed NFTSMC strategy has excellent robustness and trajectory tracking performance.
Institution: Jimei University
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
OpenAlex ID: W4414016646