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

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 finite-time sliding mode control scheme (AFTSM) is designed. Then ASV's constraints could be addressed correspondingly by a novel rate and magnitude velocity guidance and projection-based finite-time auxiliary system and parametric finite-time robust observer in this scheme. Finally, the effective performance of the presented scheme is demonstrated via a series of simulations and comparisons.