Finite-Time Trajectory Tracking Control for Uncertain Underactuated Marine Surface Vessels

This paper concerns the finite-time trajectory tracking control problem for an underactuated marine surface vessel (MSV) suffering from the external disturbance and parameter uncertainties. First, the virtual velocity command is proposed based on a novel piecewise function. It will be illustrated th...

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Bibliographic Details
Main Authors: Lei Zhang, Bing Huang, Yulei Liao, Bo Wang
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
Online Access:https://ieeexplore.ieee.org/document/8758812/