Path following of underactuated surface vessels based on neural sliding mode

For the underactuated surface vessels path tracking control problem in the external disturbance and parameter perturbation, there is a design of a neural sliding mode controller. Firstly, using the visual distance idea to design the surface vessels longitudinal speed reference and the reference Yaw angle. Think of it as a position error virtual controllers. And put the path tracking problem into a stabilization problem of the longitudinal velocity and the yaw angle. Then combined the neural network and sliding mode design a nonlinear feedback robust controller, to realize the tracking control of the virtual control law. Simulation study shows the designed neural sliding mode robust tracking controller on wind wave current disturbances (time-varying and constant) and perturbation parameters has better inhibition action. And it can realize the ideal path tracking.