Differential-Driven Unmanned Surface Vessel Patrol Path Tracking Control With Sliding Mode Control

This article proposes a patrol path tracking control strategy based on sliding mode control (SMC) for a differential-driven unmanned surface vessel (USV). Aiming at differential-driven USV, the mathematical model of propeller motor is constructed. The PWM duty cycle of propeller motor is used as the direct control input in this article, so it is convenient to be applied in practice. The controller has been designed using a combined approach of Line-of-Sight (LOS) guidance and SMC. Then the stability of the designed controller is analyzed by using the Lyapunov stability theory. The circular patrol path of USV is designed and the tracking situation is analyzed. Finally, the effectiveness of the SMC strategy is verified by simulation.