Robust Prescribed-Time ESO-Based Practical Predefined-Time SMC for Benthic AUV Trajectory-Tracking Control with Uncertainties and Environment Disturbance

The aim of this study is to address the trajectory-tracking control problem of benthic autonomous underwater vehicles (AUVs) subjected to model uncertainties and extra disturbance. In order to estimate lumped uncertainties and reconstruction speed information, this paper designs a robust prescribed-time extended state observer (RPTESO), and its prescribed time can be directly designed as an explicit parameter, without relying on the initial state of the system and complex parameter settings. In addition, an adaptive law is designed to improve the robustness of RPTSEO and reduce overshoot on the premise of ensuring convergence speed. Then, a non-singular robust practical predefined-time sliding mode control (RPPSMC) considering the hydrodynamic characteristics of AUV is designed, and the predefined time can be directly set by an explicit parameter. The RPPSMC is designed based on the lumped uncertainties estimated using RPTESO, so as to improve the control accuracy of the controller in a complex environment. Theoretical analysis and simulations demonstrated the effectiveness and superiority of the proposed method.