Finite-time command filtered backstepping control for USV path following

In this paper, a finite-time command filtered backstepping control algorithm (FTCFA) based on finite-time extended state observer is proposed for path following of unmanned surface vehicle(USV) in the presence of environment disturbances and model uncertainties. The environment disturbances and model uncertainties are estimated by introducing a finite-time extended state observer. Combined with command filtering, a novel finite-time backstepping control algorithm is proposed. A finite-time error compensation mechanism is designed to ensure the accuracy of the filtered signals to approximate the virtual control variables. Rigorous theoretical analysis is performed to show that the control algorithm can ensure that the tracking errors converge to a small region containing zero in a finite time. The rationality and performance of the control algorithm are verified by simulation results.