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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]
Copyright of Ocean Engineering is the property of Pergamon Press - An Imprint of Elsevier Science and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database: Engineering Source
FullText Text:
  Availability: 0
Header DbId: egs
DbLabel: Engineering Source
An: 195069046
AccessLevel: 6
PubType: Academic Journal
PubTypeId: academicJournal
PreciseRelevancyScore: 0
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Items – Name: Title
  Label: Title
  Group: Ti
  Data: Finite-time prescribed performance based global fast terminal sliding mode control for the trajectory tracking of AUV under lumped disturbance.
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  Data: <searchLink fieldCode="AR" term="%22Wu%2C+Wenhua%22">Wu, Wenhua</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> wenhuawuf@163.com</i><br /><searchLink fieldCode="AR" term="%22Song%2C+Cancan%22">Song, Cancan</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Wang%2C+Jia%22">Wang, Jia</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> Wjjzhb@just.edu.cn</i><br /><searchLink fieldCode="AR" term="%22Liu%2C+Liming%22">Liu, Liming</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Li%2C+Chong%22">Li, Chong</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Li%2C+Zixuan%22">Li, Zixuan</searchLink><relatesTo>2</relatesTo> (AUTHOR)
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  Data: <searchLink fieldCode="JN" term="%22Ocean+Engineering%22">Ocean Engineering</searchLink>. Jul2026:Part 1, Vol. 362, pN.PAG-N.PAG. 1p.
– Name: Subject
  Label: Subjects
  Group: Su
  Data: <searchLink fieldCode="DE" term="%22Autonomous+underwater+vehicles%22">Autonomous underwater vehicles</searchLink><br /><searchLink fieldCode="DE" term="%22Sliding+mode+control%22">Sliding mode control</searchLink><br /><searchLink fieldCode="DE" term="%22Robust+control%22">Robust control</searchLink><br /><searchLink fieldCode="DE" term="%22Control+theory+%28Engineering%29%22">Control theory (Engineering)</searchLink><br /><searchLink fieldCode="DE" term="%22Mathematical+optimization%22">Mathematical optimization</searchLink><br /><searchLink fieldCode="DE" term="%22Robotic+trajectory+control%22">Robotic trajectory control</searchLink><br /><searchLink fieldCode="DE" term="%22Observability+%28Control+theory%29%22">Observability (Control theory)</searchLink><br /><searchLink fieldCode="DE" term="%22Lyapunov+stability%22">Lyapunov stability</searchLink>
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: 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]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of Ocean Engineering is the property of Pergamon Press - An Imprint of Elsevier Science and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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RecordInfo BibRecord:
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    Identifiers:
      – Type: doi
        Value: 10.1016/j.oceaneng.2026.126138
    Languages:
      – Code: eng
        Text: English
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        PageCount: 1
        StartPage: N.PAG
    Subjects:
      – SubjectFull: Autonomous underwater vehicles
        Type: general
      – SubjectFull: Sliding mode control
        Type: general
      – SubjectFull: Robust control
        Type: general
      – SubjectFull: Control theory (Engineering)
        Type: general
      – SubjectFull: Mathematical optimization
        Type: general
      – SubjectFull: Robotic trajectory control
        Type: general
      – SubjectFull: Observability (Control theory)
        Type: general
      – SubjectFull: Lyapunov stability
        Type: general
    Titles:
      – TitleFull: Finite-time prescribed performance based global fast terminal sliding mode control for the trajectory tracking of AUV under lumped disturbance.
        Type: main
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          Name:
            NameFull: Wu, Wenhua
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            NameFull: Song, Cancan
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            NameFull: Wang, Jia
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            NameFull: Liu, Liming
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            NameFull: Li, Chong
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            – D: 30
              M: 07
              Text: Jul2026:Part 1
              Type: published
              Y: 2026
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              Value: 00298018
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              Value: 362
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            – TitleFull: Ocean Engineering
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