Finite time PAILOS based path following control of underactuated marine surface vessel with input saturation.

In this article, the line-of-sight (LOS)-based on the control principle of path following is presented to apply to a marine surface vessel (MSV) with an unknown time-varying sideslip angle. The input saturation and the uncertain model are taken into account. The presented finite-time predictor-based adaptive integral line-of-sight (FPAILOS) guidance principle can estimate the unknown time-varying sideslip angle while compensating for the drift force. The FPAILOS guidance law offers the desired yaw angle. The drift force can be caused by the ocean currents, which are taken into account in the kinematic model for the MSV. For the input saturation problem, we select the finite-time auxiliary system to limit inputs. Designing path following control signals adopts the finite-time dynamic surface control (FDSC) method. The finite-time low-frequency learning-based fuzzy system is designed to solve the uncertain model problem for the MSV. Finally, the stability of the system is demonstrated and numerical simulations are performed, where the objective is to evaluate the proposed theoretical results. With the presented control strategy, the track errors can converge into arbitrary small neighborhoods around zero in finite time.