Cooperative Trajectory Tracking Control for USV-AUV Based Integral Terminal Sliding Mode Control

This paper addresses the cooperative control of surface-underwater heterogeneous systems comprising an unmanned surface vehicle (USV) and an autonomous underwater vehicle (AUV) under unknown environmental disturbances. An integral terminal sliding mode controller is designed to enhance convergence speed and steady-state performance. Meanwhile, a disturbance observer is constructed to estimate external disturbances, thereby improving control precision and system robustness. Numerical simulations demonstrate that the proposed cooperative system control strategy achieves finite-time convergence and maintains robustness against disturbances.