A Novel Fixed-time-based Unmanned Surface Vehicle Autonomous Berthing Sliding Mode Control

The development of autonomous berthing system is the key to realize vehicle autonomous navigation system. Accurate trajectory tracking is crucial for autonomous berthing of unmanned surface vehicles(USVs). In this paper, a novel fixed-time autonomous berthing sliding mode control scheme is proposed, which introduces the fixed-time into the design of sliding mode surface. Compared with the traditional method, this method not only keeps the advantage of avoiding singularity, but also has faster convergence performance, and the convergence time is bounded by a constant, independent of the initial state. In addition, the discontinuous terms of the existing control algorithm are replaced with non-smooth terms to completely eliminate chattering. Finally, the simulation and comparison experiments show that the proposed control scheme is better than the typical control scheme.