Course Control Strategy for Unmanned Surface Vehicle Based on Mode Switching

In this paper, one concerns with the problem of course tracking control for an unmanned surface vehicle subject to unknown dynamics and interference. Considering the unknown dynamics of the model and the time-varying external disturbances, using the different convergence speeds of the linear sliding mode and the non-singular terminal sliding mode at the equilibrium point, a multi-mode course control system with faster convergence speed and stronger robustness is proposed. The modal switching course tracking control strategy uses an interference observer to compensate for unknown dynamics and external disturbances. Futhermore, In the process of modal switching, smoothing is performed by analog weighting to ensure the stability of the switching and enhance the robustness of the control system. Simulation experiments of course keeping and course tracking under different intensity disturbances are carried out to prove the feasibility and robustness of the control strategy proposed in this paper.