Fixed-time Nonsingular Fast Terminal Sliding Mode Tracking Control for Unmanned Surface Vessels Based on Disturbance Observer

Fixed-time Nonsingular Fast Terminal Sliding Mode Tracking Control for Unmanned Surface Vessels Based on Disturbance Observer | Authorea try { document.documentElement.classList.add('js'); } catch (e) { } var _gaq = _gaq || []; _gaq.push(['_setAccount', 'G-8VDV14Y67G']); _gaq.push(['_trackPageview']); (function() { var ga = document.createElement('script'); ga.type = 'text/javascript'; ga.async = true; ga.src = ('https:' == document.location.protocol ? 'https://ssl' : 'http://www') + '.google-analytics.com/ga.js'; var s = document.getElementsByTagName('script')[0]; s.parentNode.insertBefore(ga, s); })(); Skip to main content Preprints Collections Wiley Open Research IET Open Research Ecological Society of Japan All Collections About About Authorea FAQs Contact Us Quick Search anywhere Search for preprint articles, keywords, etc. Search Search ADVANCED SEARCH SCROLL This is a preprint and has not been peer reviewed. Data may be preliminary. 13 June 2025 V1 Latest version Share on Fixed-time Nonsingular Fast Terminal Sliding Mode Tracking Control for Unmanned Surface Vessels Based on Disturbance Observer Authors : Minjie Zheng , Qianqiang Chen , Yulai Su , Guoquan Chen [email protected] , and Shenhua Yang Authors Info & Affiliations https://doi.org/10.22541/au.174979645.55243510/v1 214 views 111 downloads Contents Abstract Supplementary Material Information & Authors Metrics & Citations View Options References Figures Tables Media Share Abstract ：This paper proposes a fixed-time tracking control scheme for unmanned surface vessels based on nonsingular fast terminal sliding mode (NFTSM) and disturbance observer. 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, a fixed-time NFTSM control strategy is proposed based on the difference between the actual ship velocity and the virtual desired velocity, which eliminate the singularity of the system and ensure that the ship converges to the desired trajectory within a fixed time. Thirdly, a disturbance observer is utilized to estimate and compensate the unknown time-varying environmental disturbances. And the Lyapunov theory are introduced to guarantee the stability of the system. Finally, simulation results demonstrate that the designed NFTSM control strategy can accurately estimate different external environmental disturbances, improve system error convergence speed, and exhibit high trajectory tracking accuracy. Supplementary Material File (manuscript-minjie zheng.docx) Download 2.94 MB Information & Authors Information Version history V1 Version 1 13 June 2025 Copyright This work is licensed under a Non Exclusive No Reuse License. Keywords motion control position tracking sliding mode controller trajectory evaluation unmanned surface vehicle Authors Affiliations Minjie Zheng Jimei University Navigation College View all articles by this author Qianqiang Chen Jimei University Navigation College View all articles by this author Yulai Su Jimei University Navigation College View all articles by this author Guoquan Chen [email protected] Jimei University Navigation College View all articles by this author Shenhua Yang Jimei University Navigation College View all articles by this author Metrics & Citations Metrics Article Usage 214 views 111 downloads .FvxKWukQNSOunydq8rnd { width: 100px; } Citations Download citation Minjie Zheng, Qianqiang Chen, Yulai Su, et al. Fixed-time Nonsingular Fast Terminal Sliding Mode Tracking Control for Unmanned Surface Vessels Based on Disturbance Observer. Authorea . 13 June 2025. 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