Robust Adaptive Finite-Time Motion Control of Underactuated Marine Vehicles

This paper focuses on the development of an adaptive backstepping control for underactuated marine vehicles. In order to estimate system uncertainty, a fuzzy system with a simple structure is utilized. A novel dynamical formulation has been developed for deriving the control signal. The Lyapunov function has been employed to formally prove the Semi-globally Practically Finite-time Stability of the overall closed loop system. Simulations are conducted on an underactuated marine vehicle to assess the effectiveness of the proposed control approach. These simulations consider various challenging scenarios, including external disturbances, unmodeled dynamics, time-varying water currents, and lateral velocities. Furthermore, a comparison analysis is performed.