Passivity-Based Sliding Mode Control for the Robust Trajectory Tracking of Unmanned Surface Vessels Under External Disturbances and Model Uncertainty

Authors

Luke Ma, Siyi Pang, Yao He, Yongxin Wu, Yanjun Li, Weijun Zhou

Abstract

This study uses a port-Hamiltonian framework to address trajectory tracking control for unmanned surface vessels (USVs) under unknown disturbances. A passivity-based sliding mode controller is designed, integrating adaptive disturbance estimation and an RBFNN-based uncertainty estimator. Stability is rigorously proven, and simulations confirm superior tracking performance, strong disturbance rejection, and accurate uncertainty estimation.

Citation

• Journal: Journal of Marine Science and Engineering
• Year: 2025
• Volume: 13
• Issue: 2
• Pages: 364
• Publisher: MDPI AG
• DOI: 10.3390/jmse13020364

BibTeX

@article{Ma_2025,
  title={{Passivity-Based Sliding Mode Control for the Robust Trajectory Tracking of Unmanned Surface Vessels Under External Disturbances and Model Uncertainty}},
  volume={13},
  ISSN={2077-1312},
  DOI={10.3390/jmse13020364},
  number={2},
  journal={Journal of Marine Science and Engineering},
  publisher={MDPI AG},
  author={Ma, Luke and Pang, Siyi and He, Yao and Wu, Yongxin and Li, Yanjun and Zhou, Weijun},
  year={2025},
  pages={364}
}

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References

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