Finite-time prescribed performance trajectory tracking control for the autonomous underwater helicopter

Abstract

To address the complex trajectory tracking problem of AUH near the seabed when performing high-precision operations such as comprehensive underwater inspections for offshore engineering structures, a prescribed performance control strategy with a finite-time performance function (FTPF) and the fast terminal sliding surface is proposed. The influence of ocean current is fully considered by the combination of ocean current velocity estimated by a current observer and ocean current disturbance in the dynamic model. An arctan-type disturbance observer and neural network are designed to compensate for environmental disturbances, model uncertainty, and thruster failure effects on the system. The system stability is proven by the Lyapunov method, and the numerical simulation shows that the proposed scheme is effective, robust, and efficient, even under disturbances and thruster failure.