Nonsingular fast terminal sliding mode trajectory tracking control of surface vessel with disturbances

This paper deals with the trajectory tracking control of unmanned surface vessel (USV) with time-varying external environmental disturbances. The unknown disturbances are estimated by the observers, and a new tracking robust controller with disturbance observers is designed using nonsingular fast terminal sliding mode (NFTSM) technology. The controller can ensure fast convergence speed, avoid singularity and has strong robustness. Finally, a simulation experiment of 3-D USV trajectory tracking control with unknown disturbances is given. The results show that the control law is fast convergent and robust to external disturbances.