Finite-time ESO and Non-singular TSM Control Strategy for Trajectory Tracking of Hovercraft

A finite-time extended state observer (ESO) based non-singular finite-time integral terminal sliding mode (NFITSM) controller and non-singular finite-time arctangent terminal sliding mode (NFATSM) controller is proposed for the trajectory tracking of hovercraft with model uncertainty and external disturbances. Firstly, a finite-time extended state observer is proposed which can approximate the complex nonlinear time-varying uncertainties, and the dynamics of the errors are considered to achieve high estimation accuracy. Then, based on the disturbances estimation, an NFITSM and NFATSM controllers are developed for hovercraft, which can effectively avoid chattering in the controller and improve the performance of hovercraft trajectory tracking control. Then, the finite-time stability of the proposed trajectory tracking controller can be guaranteed by using the homogeneous method, Lyapunov theory and finite-time stability theory. Finally, a series of simulation tests are carried out to verify the effectiveness of the proposed strategy.