Super-Twisting Sliding Mode Control for the Trajectory Tracking of Underactuated USVs with Disturbances

For an underactuated unmanned surface vehicle (USV), time-varying external disturbances affect the accuracy of trajectory tracking. To ensure tracking accuracy, in this paper reduced-order extended state observer (ESO) and super-twisting second-order sliding mode controller are adopted. The ESO is designed to address unknown sideslip angle guidance law. Additionally, technology contributes a reduced chattering effect mode. Lyapunov method used analyze stability system prove that proposed controllers can convergence errors finite time. simulation experiments control (STSMC) adaptive (ASMC) methods compared. results show STSMC enables USV complete task reference also significantly compared ASMC.