Finite-Time Observer Based Motion Vector Control for Air Cushion Vehicle with Drift Phenomenon

Considering the influence of drift phenomenon, a finite-time robust vector control method is proposed for air cushion vehicle (ACV). The nonlinear vector model included the dynamics of course and total speed is established. To obtain the robustness for uncertainties, finite-time observer is designed based on a nonlinear vector model. By the well combining with finite-time theory, finite-time robust vector controller is designed. Controller can make ACV track desired moving speed and direction well although the big drift phenomenon and uncertainties exist. Designed controller guarantees that tracking errors of motion vectors will diminish to zero within a limited number of steps. Its efficacy and superiority are confirmed through simulation results.