Fast Terminal Sliding Mode Control Method for Unmanned Surface Vessel Stabilization

This paper presents a fast terminal sliding mode control method for unmanned surface vessel stabilization. The method is implemented through original source code that has undergone multiple experimental tests and validations. Through system modeling analysis, the approach employs a sliding mode control strategy with integrated terminal sliding mode control to enhance stabilization performance. The implementation features a novel sliding surface design that effectively eliminates system disturbances and noise while achieving rapid stabilization. The core algorithm utilizes Lyapunov-based stability analysis and incorporates a fast terminal reaching law to ensure finite-time convergence. Key functions include disturbance estimation modules and adaptive gain tuning mechanisms for precise vessel control. The control algorithm demonstrates improved system performance and stability through parameter optimization techniques. This method represents a promising approach for unmanned surface vessel stabilization with broad application prospects in autonomous maritime operations.