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Abstract An adaptive sliding mode control method was proposed based on barrier function for tracking the trajectory of autonomous surface vessels. A switching control rate was set according to the convergence of sliding variable mode, and the sliding variable mode gain could be adjusted adaptively without the prior information of external disturbance. The results show that sliding variable can converge and remain in a predefined neighborhood of zero independently of the upper bound of disturbances. The barrier function ensures that the sliding mode gain is always dynamically greater than the uncertain external environmental disturbances, which guarantees the trajectory tracking performance of autonomous surface vessels. The Lyapunov theoretical analysis proves that the autonomous surface vessel system can reach the predetermined neighborhood of zero in a finite time. The simulation results verify the effectiveness of the controller designed for the trajectory tracking problem, which illuminates that the vessel trajectory can track the desired trajectory well by the designed method.
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