Robust Finite Time Path Following Control for Underactuated Ships with Ship-to-Ship Avoidance Strategy

This note focus on the waypoints-based path following control issue of underactuated ships, considering the existence of ship-to-ship collision risks. With the improved dynamic virtual ship guidance (DVS) algorithm, the risks of collision could be predicted. Finally, a finite-time based control scheme is proposed, guaranteeing semi-global practical finite-time bounded (SGPFB). The comparison experiment is presented to demonstrate the effectiveness and superiority of the proposed scheme.