Finite-time Tracking for UUV with System Uncertainty Using Fast Adaptive Nonsingular Terminal High-order Sliding Mode Control

This paper proposes a finite-time tracking control algorithm for the unmanned underwater vehicle using fast adaptive nonsingular terminal high-order sliding mode control method. Without obtaining the upper bound of the prior knowledge, our proposed controller estimates the uncertainty using an adaptive method. Moreover, compared with the conventional high-order sliding mode control, our method can achieve the asymptotic convergence of tracking errors within a finite time. Simulation under Robot Operating System illustrates the effectiveness of our method.