Model-Free Adaptive Sliding Mode Control Method for Unmanned Surface Vehicle Course Control
Wei Liu, Hui Ye, Xiaofei Yang
Abstract
A novel data-driven-based adaptive sliding-mode control scheme is proposed for unmanned surface vehicle course control in the presence of disturbances. The proposed method utilizes the model-free adaptive control (MFAC) theory. On account of the unknown dynamics of the USV course system, the control scheme is only established by online input and output information of the system. Based on a model-free adaptive control scheme, the system disturbance estimation technique is applied to compensate for the disturbances in the established compact form dynamic linearization data model. The controller is designed and combined with the sliding mode method, and a second-order switching surface with a fast terminal sliding function is employed to achieve finite-time convergence. Furthermore, an analysis of the stability of the control system is provided. Finally, MATLAB simulations are implemented to verify the validity and robustness of the proposed control scheme by comparing it with PID and typical model-free adaptive sliding mode control.