Path Following of Underactuated Autonomous Surface Vessels With Surge Velocity Constraint and Asymmetric Saturation  

作　　者：Yalei Yu Chen Guo Tieshan Li 

机构地区：[1]the School of Marine Electrical Engineering,Dalian Maritime University,Dalian 116026,China [2]the Department of Aeronautical and Automotive Engineering,Loughborough University,Loughborough LE113RH,UK [3]the School of Automation Engineering,University of Electronic Science and Technology of China,Chengdu 611731 [4]the School of Navigation,Dalian Maritime University,Dalian 116026,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2023年第5期1343-1345,共3页自动化学报（英文版）

基　　金：supported by the National Natural Science Foundation of China (51879027, 51939001, 61976033, 51579024, 61374114, 51809028);the Liaoning Revitalization Talents Program (XLYC1908018);the Natural Foundation Guidance Plan Project of Liaoning (2019-ZD-0151);the Cultivation Program for the Excellent Doctoral Dissertation of Dalian Maritime University;the Fundamental Research Funds for the Central Universities (3132019318, 3132019345)。

摘　　要：Dear Editor, This letter is concerned with the path following of underactuated autonomous surface vessels(ASV) in the presence of surge velocity constraint and asymmetric saturation as well as unknown dynamics.To cope with velocity constraints both magnitude and rate and asymmetric saturation as well as unknown dynamics, an adaptive finitetime sliding mode control scheme(AFTSM) is designed.

关 键 词：dynamics SATURATION ASYMMETRIC 

分 类 号：U664.82[交通运输工程—船舶及航道工程] TP273[交通运输工程—船舶与海洋工程]