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<p>This paper investigates the non-singular predefined-time sliding mode control problem for unmanned surface vehicles (USVs) based on a fuzzy disturbance observer (FDO). Firstly, a fuzzy disturbance observer is designed to estimate the lumped system uncertainties. Secondly, a non-singular predefined-time sliding surface is proposed, and a corresponding non-singular predefined-time control law is developed in conjunction with the fuzzy disturbance observer. The stability and arrival time of the system are analyzed using Lyapunov stability theory. Finally, simulations verify the effectiveness of the proposed non-singular predefined-time sliding mode control method.</p>

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Non-singular predefined-time sliding mode control for unmanned surface vehicles based on fuzzy disturbance observer

  • 期刊论文

  • 发表日期：

    2025年1月15日

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  • Long Chen,
  • Xu Yang,
  • Hai Wang,
  • Bin Yan,
  • Zhuopeng Yang,
  • Guangyi Wang

摘要

This paper investigates the non-singular predefined-time sliding mode control problem for unmanned surface vehicles (USVs) based on a fuzzy disturbance observer (FDO). Firstly, a fuzzy disturbance observer is designed to estimate the lumped system uncertainties. Secondly, a non-singular predefined-time sliding surface is proposed, and a corresponding non-singular predefined-time control law is developed in conjunction with the fuzzy disturbance observer. The stability and arrival time of the system are analyzed using Lyapunov stability theory. Finally, simulations verify the effectiveness of the proposed non-singular predefined-time sliding mode control method.