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This paper investigates trajectory tracking and collision-avoidance problems for unmanned surface vehicles (USVs) in maritime sports support scenarios. These tasks require accurate tracking, disturbance rejection, safe motion around static and moving obstacles, and predictable transient performance within task-level time constraints. To address these requirements, an adaptive predefined-time sliding mode control (APTSMC) strategy is formulated for the considered CyberShip II-based USV tracking error system. A predefined-time sliding surface and reaching law are used to provide an explicit convergence-time design parameter for the nominal tracking subsystem, while an adaptive compensation mechanism estimates the unknown bound of lumped disturbances without requiring prior knowledge. To support collision avoidance, a velocity-modulated artificial potential field correction is incorporated as a reactive avoidance layer. The modulation term strengthens repulsion when the USV approaches an obstacle and reduces unnecessary deviation when the relative motion is safe. Numerical results in a constructed maritime sports boundary-tracking simulation scenario with multiple static and moving obstacles further demonstrate the potential effectiveness of the integrated framework in balancing tracking accuracy and collision avoidance safety.
Xie et al. (Thu,) studied this question.