Course Control of Unmanned Surface Vehicle Based on Fuzzy Sliding Mode

In order to solve the problem of large course control error of underactuated unmanned surface vehicle (USV), a controller is designed based on sliding mode control algorithm, and the sliding mode surface is optimized by combining fuzzy control algorithm to accelerate error convergence speed and reduce steady-state error. Finally, based on the “Jinghai 8-a” small unmanned measurement vehicle of Shanghai University, the simulation verifies the stability of the USV in course keeping control and its robustness to external disturbances.