Finite-Time Control of Amphibious Unmanned Surface Vehicles: Fully Actuated System Approach

In this paper, a practical finite-time controller (FTC) using fully actuated system (FAS) approach is designed for the amphibious unmanned surface vehicles (AUSVs), which has two modes of flight and navigation. Due to the pronounced non-linearity and underactuated characteristics of AUSVs, achieving practical finite-time control of these vehicles poses significant challenges with existing methodologies. Firstly, the switched vehicle system is transformed into a FAS. Then, the fuzzy logic system and adaptive control techniques are combined to tackle the issues of uncertain parameters. Through the Lyapunov stability method and backstepping technique, it has been proven that tracking errors can converge to a very small boundary in finite time. Finally, a simulation example is presented to demonstrate the effectiveness of the designed control strategy.