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

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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Bibliographic Details
Main Authors: Jianping Yuan, Zhuohui Chai, Qingdong Chen, Zhihui Dong, Lei Wan
Format: Article
Language:English
Published: MDPI AG 2025-01-01
Series:Sensors
Subjects:
unmanned surface vessels
ESO
heading tracking
path tracking
non-singular terminal sliding mode
Online Access:https://www.mdpi.com/1424-8220/25/2/351
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