Stabilization of USVs Under Mismatched Condition Based on Fixed-Time Observer

Stabilization of USVs Under Mismatched Condition Based on Fixed-Time Observer

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This study investigates the problem of asymptotic stabilization of underactuated surface vehicles (USVs) in the presence of simultaneous matched and mismatched disturbances.Within the framework of back-stepping control and by introducing a periodic term in the control laws of virtual yaw angle and surge velocity, a control design method is developed oz machine roosevelt for sale to stabilize the USVs into the bounded region.By the induction method, a novel fixed-time disturbance observer based on higher-order sliding mode differentiators are introduced.Then a control law based on the proposed observers is proposed, by which rab bck-s4 the errors between the virtual and actual yaw angle and surge velocity can converge to zero, and the state of the USVs converge to a bounded region.

Numerical simulations are carried out to verify the proposed control schemes.