Path Following of Underactuated Autonomous Surface Vessels With Surge Velocity Constraint and Asymmetric Saturation

Dear Editor, This letter is concerned with the path following of underactuated autonomous surface vessels (ASV) in presence surge velocity constraint and asymmetric saturation as well unknown dynamics. To cope constraints both magnitude rate dynamics, an adaptive finite-time sliding mode control scheme (AFTSM) designed. Then ASV's could be addressed correspondingly by a novel guidance projection-based auxiliary system parametric robust observer this scheme. Finally, effective performance presented demonstrated via series simulations comparisons.