Fuzzy Adaptive Super-Twisting Sliding Mode Control for Underactuated USV Formation Based on Dynamic Cooperative Error Correction
Year: 2026
Type: article
Abstract: In order to maintain stable formations of the underactuated unmanned surface vehicles (USVs) under ocean disturbances and reduce control chattering, a fuzzy adaptive super-twisting sliding mode control method combined with dynamic cooperative error correction is introduced in this paper. At the kinematic level, a dynamic cooperative error correction scheme is presented to include the relative positions of the neighboring vehicles. This results in a transition from independent tracking to interactive cooperation, thus improving the rigidity of the formation during maneuvers. Secondly, a composite inner-loop structure is designed by employing a nonlinear disturbance observer to counteract the effects of external loads. A fuzzy logic system is included to modify the super-twisting sliding mode gains in real-time. This approach effectively combines rapid error reduction with signal smoothness, addressing the trade-off between response speed and chatter suppression. Moreover, tracking differentiators and low-pass filters are utilized to obtain continuous control signals. The Lyapunov analysis indicates that the closed-loop system achieves semi-global uniform ultimate boundedness. Simulation results show that the proposed method can maintain high formation precision and obtain smooth control outputs with reduced chattering.
DOI: 10.3390/jmse14171610
Authors: Shuitao Peng, Jing Luo, Lei Du, Hao Wang
Language: English
Subfield: Computer Networks and Communications
Field: Computer Science
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $3,137
OpenAlex ID: W7204944879