A higher order sliding mode tracking control method for underactuated surface vessel

With the higher-order sliding mode control theory, a sliding mode tracking control method is presented for an underactuated surface vessel in presence of parameter variations and external disturbances. First the basic idea of the higher-order sliding mode control is introduced, and then the second-order sliding mode tracking control law is derived based on Lyapunov second method. Theoretical analysis and simulation results show that the method can effectively eliminate system chattering and achieve the tracking manoeuvre precision positioning and get global stability and robustness at the same time.