Finite-time trajectory tracking control of unmanned surface vessel with error constraints and input saturations

In this paper, a finite-time trajectory tracking control for unmanned surface vessel with error constraints and input saturations is proposed. We take the limited actuator capability into account and employ the hyperbolic tangent function to address the saturation problem, which is converted into the unknown input gains. A tan-type barrier Lyapunov function tackles the error constraints, where error variables remain within the predefined bounds. In addition, the neural networks are utilized for model uncertainties and external disturbances. We present a semi-globally uniformly bounded control method, and develop a finite-time control approach subsequently. Finally, the effectiveness of the proposed strategies is verified by the simulation studies.