Robust sliding mode control for path following of a MSV via the triggering LOS guidance

This paper explores a resilient sliding mode control algorithm tailored for guiding a marine surface vessel (MSV) through a path without the constraints of continuously transmitting the guidance signal. The proposed algorithm comprises two key components: the Triggering Line-of-Sight (TLOS) guidance principle and the robust sliding mode control algorithm. The TLOS principle introduces a novel approach to reduce the transmission rate of the guidance signal. This reduction not only lowers the requirements for control design but also contributes to a smoother output signal. To ensure effective tracking of the guidance signals, a robust sliding mode control algorithm is developed, incorporating a proportional integral sliding mode manifold and an L-function. Consequently, the resulting control algorithm excels in terms of simplicity and anti-interference performance. The practical stability of the system is proved through Lyapunov theory. To validate the proposed algorithm’s advantages and effectiveness, a numerical example is presented, demonstrating its superior performance in real-world scenarios.