Adaptive Finite-Time Trajectory Tracking Control for Underactuated Surface Vehicles Based on Adaptive Disturbance Compensating

This paper studies the trajectory tracking problem of underactuated surface vehicles with model uncertainties and external disturbances. We propose an adaptive finite-time control method, in which the disturbance compensating is considered. To deal with the underactuated problem in the model, a sliding mode technique is introduced, and the system is divided into two subsystems which coupled with each other. New parameter adaptive law is designed for the parameter uncertainties. A new finite-time disturbance observer with a set of adaptive parameters is constructed to estimate the model uncertainties and external disturbances. Then, the adaptive finite-time trajectory tracking controller is achieved by using a new integral-type Lyapunov function. It is theoretically proved that all tracking errors in the closed-loop system are finite-time stable. To verify the feasibility, simulation on the surface vessels has been conducted.