Predefined-time Fast Tracking Control for Hovercraft with Comprehensive Uncertainty

In order to meet the rapid converge requirement when tracking the desired speed and heading, a predefined-time tracking control method for the hovercraft with system uncertainty is proposed. Firstly, considering the uncertainty of the parameters of the hovercraft model and the dynamic uncertainty caused by unknown disturbance, a dynamic mathematical model with uncertainty description is given. Secondly, super-twisting sliding mode observer is developed to estimate the comprehensive uncertainty in speed and heading channel. Finally, combining backstepping method and predefined-time stability theorem, predefined-time heading and speed controller are designed. The effectiveness and superiority of the method are verified by two digital simulation examples.