Disturbance Rejection Based Adaptive Fast Terminal Sliding Mode Control for Ship Course Control

As the main means of transportation in global trade, ships have received great attention in industry and academia. Aiming at the automatic control of the ship in the ocean, an adaptive fast terminal sliding mode control (FTSMC) method is proposed and regulates the ship course effectively. In particular, considering the nonlinear dynamics of the ship and unexpected external disturbances, the linear extended state observer (LESO) is employed to estimate and compensate for the total disturbance in ship course control. Specifically, an adaptive control gain is elaborately designed to eliminate the tracking error caused by the estimation error of the total disturbance, which ensures the asymptotic convergence of the closed-loop system. Based on the designed sliding manifold, the proposed method can achieve the control objective without singularity. Furthermore, the closed-loop stability are proved by rigorous Lyapunov-based analysis. In addition, the simulations with comparative results are provided to validate the effectiveness and robustness of the proposed method.