Finite-time stabilization of under-actuated ship with actuator failure and saturation

This paper studies the finite-time stabilization problem for a class of dynamic positioning ship with the delay, actuator failure and saturation. First, we develop an input-delay system on the dynamic positioning ship, and transform it into an equivalent state-delay one. Then, based on the equivalent form and introducing new variables, a controlled system on dynamic positioning ship is obtained. Thirdly, by applying the back-stepping technique and finite-time Lyapunov function method, a finite-time stabilization result on the ship is obtained and a control design procedure is given. Finally, the simulation results show the effectiveness of the finite-time controller proposed in this paper.