abstract
- © 2021 The Authors.This paper addresses a robust controller for an unmanned surface vehicle subject to external disturbances. An adaptive integral terminal sliding mode technique is designed to control the surge speed and yaw dynamics of the vehicle. Such controller is robust against bounded disturbances, allows finite-time convergence of the tracking error variable, and attenuates the chattering effect common to sliding mode approaches by adapting its control gain. Furthermore, a trajectory tracking guidance law is designed to provide speed and heading references. Simulation results illustrate and compare the advantages and feasibility of the proposed approach in the presence of wind, waves, and currents disturbances.