摘要
Dear Editor, This letter is concerned with the path following of underactuated autonomous surface vessels(ASV) in the presence of surge velocity constraint and asymmetric saturation as well as unknown dynamics.To cope with velocity constraints both magnitude and rate and asymmetric saturation as well as unknown dynamics, an adaptive finitetime sliding mode control scheme(AFTSM) is designed.
基金
supported by the National Natural Science Foundation of China (51879027, 51939001, 61976033, 51579024, 61374114, 51809028)
the Liaoning Revitalization Talents Program (XLYC1908018)
the Natural Foundation Guidance Plan Project of Liaoning (2019-ZD-0151)
the Cultivation Program for the Excellent Doctoral Dissertation of Dalian Maritime University
the Fundamental Research Funds for the Central Universities (3132019318, 3132019345)。
