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Finite-time prescribed performance based global fast terminal sliding mode control for the trajectory tracking of AUV under lumped disturbance.

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Title: Finite-time prescribed performance based global fast terminal sliding mode control for the trajectory tracking of AUV under lumped disturbance.
Authors: Wu, Wenhua1 (AUTHOR) wenhuawuf@163.com, Song, Cancan1 (AUTHOR), Wang, Jia1 (AUTHOR) Wjjzhb@just.edu.cn, Liu, Liming1 (AUTHOR), Li, Chong1 (AUTHOR), Li, Zixuan2 (AUTHOR)
Source: Ocean Engineering. Jul2026:Part 1, Vol. 362, pN.PAG-N.PAG. 1p.
Subjects: Autonomous underwater vehicles, Sliding mode control, Robust control, Control theory (Engineering), Mathematical optimization, Robotic trajectory control, Observability (Control theory), Lyapunov stability
Abstract: This paper investigates the finite-time control problem of three-dimensional (3D) trajectory tracking for autonomous underwater vehicle (AUV) in the presence of model uncertainties and external disturbances. First, a novel control strategy integrating finite-time prescribed performance (FTPP) with global fast terminal sliding mode control (GFTSMC) is developed. Specifically, the FTPP function is used to prescribe a time-varying performance boundary for the tracking error, whereas the GFTSMC method facilitates finite-time convergence of the system. Then, to further improve robustness, a third-order finite-time extended state observer (FTESO) is designed to estimate and compensate lumped disturbances caused by model uncertainties and external disturbances in real time. Finally, by using Lyapunov theory and finite-time control theory, the finite-time stability of the FTESO and the overall closed-loop system is proved. The simulation results demonstrate that, under a 20% variation in hydrodynamic parameters, the proposed controller achieves quicker convergence and enhanced robustness compared with other methods. • FTPP-GFTSMC achieves finite-time AUV tracking within prescribed bounds. • A third-order FTESO rejects lumped disturbances in finite time. • Lyapunov theory proves finite-time stability of the observer and system. [ABSTRACT FROM AUTHOR]
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Database: Engineering Source
Description
Abstract:This paper investigates the finite-time control problem of three-dimensional (3D) trajectory tracking for autonomous underwater vehicle (AUV) in the presence of model uncertainties and external disturbances. First, a novel control strategy integrating finite-time prescribed performance (FTPP) with global fast terminal sliding mode control (GFTSMC) is developed. Specifically, the FTPP function is used to prescribe a time-varying performance boundary for the tracking error, whereas the GFTSMC method facilitates finite-time convergence of the system. Then, to further improve robustness, a third-order finite-time extended state observer (FTESO) is designed to estimate and compensate lumped disturbances caused by model uncertainties and external disturbances in real time. Finally, by using Lyapunov theory and finite-time control theory, the finite-time stability of the FTESO and the overall closed-loop system is proved. The simulation results demonstrate that, under a 20% variation in hydrodynamic parameters, the proposed controller achieves quicker convergence and enhanced robustness compared with other methods. • FTPP-GFTSMC achieves finite-time AUV tracking within prescribed bounds. • A third-order FTESO rejects lumped disturbances in finite time. • Lyapunov theory proves finite-time stability of the observer and system. [ABSTRACT FROM AUTHOR]
ISSN:00298018
DOI:10.1016/j.oceaneng.2026.126138