Finite-time tracking for underactuated vehicles with parametric uncertainties

This paper investigates a global tracking problem for underactuated vehicles with parameter uncertainties. Firstly, the system is divided into two subsystems according to its inherent structure. Secondly, a controller and a desired time-variant angular velocity are designed by Backstepping approach; meanwhile, there is another controller designed by NTSM to ensure angular and angular velocity converge to their desired ones. Thirdly, global asymptotical convergence and finite-time convergence are demonstrated by Barbalat Lemma and the theory of sliding mode. Finally, simulation results are provided to show the feasibility and effectiveness of the proposed algorithms.