Nonlinear sliding mode predictive trajectory tracking control of underactuated marine vehicles: Theory and experiment

Abstract

This article introduces a control method for trajectory tracking of underactuated unmanned marine vehicles (UMVs), employing the sliding mode predictive control (SMPC) scheme. To address the challenges of demonstrating system stability with a local feedback controller for underactuated UMVs in model predictive control (MPC), this article proposes an auxiliary controller design method based on sliding mode control. A sliding mode dynamic is derived through an error system and sliding surface equations. Compared to existing literature, which predominantly emphasizes demonstrating input‐state stability, this strategy ensures the asymptotic stability of the closed‐loop system by introducing a novel method for selecting weight matrices. Furthermore, extended terminal sets and feasible sets constructed via sliding variables are provided, thereby reducing conservatism. Ultimately, the SMPC scheme is validated through simulation and hardware experiments providing quantitative evidence of its effectiveness in real‐world applications.