ESO-Based Non-Singular Terminal Filtered Integral Sliding Mode Backstepping Control for Unmanned Surface Vessels

Aiming at the control challenges faced by unmanned surface vessels (USVs) in complex environments, such as nonlinearities, parameter uncertainties, and environmental perturbations, we propose a non-singular terminal integral sliding mode control strategy based on an extended state observer (ESO). Th...

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Main Authors: Jianping Yuan, Zhuohui Chai, Qingdong Chen, Zhihui Dong, Lei Wan
Format: Article
Language:English
Published: MDPI AG 2025-01-01
Series:Sensors
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Online Access:https://www.mdpi.com/1424-8220/25/2/351
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author Jianping Yuan
Zhuohui Chai
Qingdong Chen
Zhihui Dong
Lei Wan
author_facet Jianping Yuan
Zhuohui Chai
Qingdong Chen
Zhihui Dong
Lei Wan
author_sort Jianping Yuan
collection DOAJ
description Aiming at the control challenges faced by unmanned surface vessels (USVs) in complex environments, such as nonlinearities, parameter uncertainties, and environmental perturbations, we propose a non-singular terminal integral sliding mode control strategy based on an extended state observer (ESO). The strategy first employs a third-order linear extended state observer to estimate the total disturbances of the USV system, encompassing both external disturbances and internal nonlinearities. Subsequently, a backstepping sliding mode controller based on the Lyapunov theory is designed to generate the steering torque control commands for the USV. To further enhance the tracking performance of the system, we introduce a non-singular terminal integral sliding mode surface with a double power convergence law and redesign the backstepping sliding mode controller for the USV heading control. Meanwhile, to circumvent the differential explosion issue in traditional backstepping control, we simplify the controller design by utilizing a second-order sliding mode filter to accurately estimate the differential signals of the virtual control quantities. Theoretical analysis and simulation results demonstrate that the proposed control algorithm improves the convergence speed, adaptive ability, and anti-interference ability in complex environments compared to traditional linear backstepping sliding mode control, thereby enhancing its engineering practicability. This research offers a more efficient and reliable method for precise heading control and path tracking of USVs in complex and dynamic environments.
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id doaj-art-51c40d1cf7cc4a31a4f8c0ec6381081b
institution Kabale University
issn 1424-8220
language English
publishDate 2025-01-01
publisher MDPI AG
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series Sensors
spelling doaj-art-51c40d1cf7cc4a31a4f8c0ec6381081b2025-01-24T13:48:36ZengMDPI AGSensors1424-82202025-01-0125235110.3390/s25020351ESO-Based Non-Singular Terminal Filtered Integral Sliding Mode Backstepping Control for Unmanned Surface VesselsJianping Yuan0Zhuohui Chai1Qingdong Chen2Zhihui Dong3Lei Wan4Naval Architecture and Shipping College, Guangdong Ocean University, Zhanjiang 524091, ChinaNaval Architecture and Shipping College, Guangdong Ocean University, Zhanjiang 524091, ChinaNaval Architecture and Shipping College, Guangdong Ocean University, Zhanjiang 524091, ChinaNaval Architecture and Shipping College, Guangdong Ocean University, Zhanjiang 524091, ChinaCollege of Shipbuilding Engineering, Harbin Engineering University, Harbin 150001, ChinaAiming at the control challenges faced by unmanned surface vessels (USVs) in complex environments, such as nonlinearities, parameter uncertainties, and environmental perturbations, we propose a non-singular terminal integral sliding mode control strategy based on an extended state observer (ESO). The strategy first employs a third-order linear extended state observer to estimate the total disturbances of the USV system, encompassing both external disturbances and internal nonlinearities. Subsequently, a backstepping sliding mode controller based on the Lyapunov theory is designed to generate the steering torque control commands for the USV. To further enhance the tracking performance of the system, we introduce a non-singular terminal integral sliding mode surface with a double power convergence law and redesign the backstepping sliding mode controller for the USV heading control. Meanwhile, to circumvent the differential explosion issue in traditional backstepping control, we simplify the controller design by utilizing a second-order sliding mode filter to accurately estimate the differential signals of the virtual control quantities. Theoretical analysis and simulation results demonstrate that the proposed control algorithm improves the convergence speed, adaptive ability, and anti-interference ability in complex environments compared to traditional linear backstepping sliding mode control, thereby enhancing its engineering practicability. This research offers a more efficient and reliable method for precise heading control and path tracking of USVs in complex and dynamic environments.https://www.mdpi.com/1424-8220/25/2/351unmanned surface vesselsESOheading trackingpath trackingnon-singular terminal sliding mode
spellingShingle Jianping Yuan
Zhuohui Chai
Qingdong Chen
Zhihui Dong
Lei Wan
ESO-Based Non-Singular Terminal Filtered Integral Sliding Mode Backstepping Control for Unmanned Surface Vessels
Sensors
unmanned surface vessels
ESO
heading tracking
path tracking
non-singular terminal sliding mode
title ESO-Based Non-Singular Terminal Filtered Integral Sliding Mode Backstepping Control for Unmanned Surface Vessels
title_full ESO-Based Non-Singular Terminal Filtered Integral Sliding Mode Backstepping Control for Unmanned Surface Vessels
title_fullStr ESO-Based Non-Singular Terminal Filtered Integral Sliding Mode Backstepping Control for Unmanned Surface Vessels
title_full_unstemmed ESO-Based Non-Singular Terminal Filtered Integral Sliding Mode Backstepping Control for Unmanned Surface Vessels
title_short ESO-Based Non-Singular Terminal Filtered Integral Sliding Mode Backstepping Control for Unmanned Surface Vessels
title_sort eso based non singular terminal filtered integral sliding mode backstepping control for unmanned surface vessels
topic unmanned surface vessels
ESO
heading tracking
path tracking
non-singular terminal sliding mode
url https://www.mdpi.com/1424-8220/25/2/351
work_keys_str_mv AT jianpingyuan esobasednonsingularterminalfilteredintegralslidingmodebacksteppingcontrolforunmannedsurfacevessels
AT zhuohuichai esobasednonsingularterminalfilteredintegralslidingmodebacksteppingcontrolforunmannedsurfacevessels
AT qingdongchen esobasednonsingularterminalfilteredintegralslidingmodebacksteppingcontrolforunmannedsurfacevessels
AT zhihuidong esobasednonsingularterminalfilteredintegralslidingmodebacksteppingcontrolforunmannedsurfacevessels
AT leiwan esobasednonsingularterminalfilteredintegralslidingmodebacksteppingcontrolforunmannedsurfacevessels