Abstract
Under the constraints of uncertain hydrodynamic parameters and external disturbances caused by wind, density, and temperature gradients, a trajectory tracking control issue is studied. To be specific, a finite-time controller is developed by using the non-singular fast terminal sliding mode control technique. The position tracking error tends to zero with faster convergence. Besides, we present a robust differentiator in order to estimate the unknown external disturbances and uncertainties. The boundedness of system states in settling time is discussed. Finally, simulation results show that the proposed control algorithm can achieve better performance in terms of rapid transient response, high steady-state accuracy, and controller quality, as compared with some existing sliding mode control laws.
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