Full-Actuated System Approach for an Amphibious Unmanned Surface Vehicle Based on Fixed-Time Trajectory Tracking Controller

A fixed-time trajectory tracking controller for an aquatic-aerial amphibious unmanned surface vehicle (AUSV) through the full-actuated system approach (FASA) is designed in this paper. Firstly, the mathematical model of the vehicle system is analyzed. Secondly, according to the full-actuated approach, the AUSV full-actuated system model and the tracking error system is established. Thirdly, a full-actuated fixed-time sliding mode control strategy (FA-FxSMCS) is designed by the error system to realize the trajectory tracking control of the vehicle within a fixed time. The simulation results show that this control strategy can not only simplify the controller structure effectively, but also realize accurate AUSV trajectory tracking control.