Finite-time robust tracking control of an autonomous underwater vehicle in the presence of uncertainties and external current disturbances

The aim of this study is to achieve the trajectory-tracking control of an autonomous underwater vehicle (AUV) in the presence of random system uncertainties and external current disturbances. A comprehensive model of an AUV is developed based on its kinematic and dynamic models. By means of appropriate transformations, a new system dynamic equation with arguments of positions and orientations is obtained for the controller design. Here, a proposed finite-time robust tracking control (FTRTC) based on a nonlinear sliding surface constructed using the tracking error which leads not only to trajectory-tracking of the AUV system with a finite-time convergence, but also a high level of robust performance. The stability of the overall system is assured via the Lyapunov stability criteria. Computer simulations conducted using the developed controller demonstrates the feasibility and effectiveness of the proposed FTRTC. Moreover, the simulation results showed that the proposed control scheme resulted in a high level of robustness of the closed-loop control system.