Finite-Time Tracking Control of Underwater Vehicles With System Uncertainties and Unknown Disturbances

摘要

In this paper, a novel finite-time second-order sliding mode control (FTSOSMC) for trajectory tracking of underwater vehicles subject to system uncertainties and unknown disturbances, is proposed. In this control design, an second order sliding mode control framework is designed with a complete compensation of disturbance to obtain high tracking accuracy and relax the necessity of the disturbance bound. The theoretical analysis proves the finite time convergence of tracking errors and the stability of the closed-loop control system. The effectiveness of the proposed control scheme is verified by the simulation results.