Waypoints Trajectory Tracking Control for Nonholonomic Unmanned Surface Vehicle under Environment Disturbance

The waypoints trajectory-tracking problem for Unmanned Surface Vehicle with environment disturbance is investigated. An upper-triangle and diagonal matrix decomposition method of Unscented Kalman Filter (UD-UKF) for the environment noise is proposed. A nonlinear error system is derived based on the nonholonomic constraints equations and UD-UKF based finite-time tracking control algorithm for the nonlinear error system is designed. Then we design a finite-time tracking control law to make the initial angle error states of the error system to drive towards a known sliding boundary layer in finite-time. So the estimated states using UD-UKF are used to construct a feedback control law in order to achieve finite-time stabilization for heading angle error states; meanwhile the estimated states of the position error for the reduced-order system are adopted to design a state feedback control law in order to achieve the finite time stabilization for position error states. Finally, the effectiveness of control strategies is verified by numerical simulations and comparison results.