An FASA-Based Predefined-Time Tracking Sliding-Mode Control for Marine Surface Vehicles

Marine surface vehicles (MSV) are applied in many scenarios, but designing controllers of MSV is challenging due to the complexity of models and the interference of disturbances. To address this issue, a fully-actuated system approach (FASA) based predefined-time tracking control method is developed in this paper, which transforms the dynamic system of MSV tracking error into a fully-actuated system (FAS), and a FASA based predefined-time sliding mode tracking control approach is proposed. By implementing this control scheme proposed in the paper, the MSV's tracking error is driven to the origin in a predefined time. Then the Lyapunov theory is utilized to prove the stability of the proposed method. Finally, some numerical simulations are provided to validate its effectiveness.