Fixed time terminal sliding mode trajectory tracking design for a class of nonlinear dynamical model of air cushion vehicle

Abstract

This manuscript proposes a robust fixed time terminal sliding mode prototype for trajectory tracking of the nonlinear dynamics of an under-actuated air cushion vehicle. Nonlinearity, external disturbances, internal uncertainties and unmodeled dynamics are the main difficulties that an amphibious vehicle is faced with in its maneuver. The main contribution of the proposed methodology is to overcome these problems based on both the guaranteed stability in sense of Lyapunov and the fixed time tracking error even if the initial values are changed. Robustness against uncertainties and disturbances, fixed time convergence of tracking error to zero are other merits of the proposed approach. The simulation results demonstrate the effectiveness and superiority of suggested scheme.