Finite-time observer based tracking control of uncertain heterogeneous underwater vehicles using adaptive sliding mode approach

In this study, a finite-time consensus tracking problem is investigated for group of autonomous underwater vehicles (AUVs) with heterogeneous uncertain dynamics. We firstly propose two-layer distributed control strategy, which consists an upper-layer observer and lower-layer controller, without using any global information. Based on Hölder’s inequality the theory stability, developed each follower to estimate position information leader (i.e., exosystem). sliding mode method, scheme designed AUV, by all AUVs can track in finite time. Secondly, when parameters AUV dynamics are uncertain, parameter-adaptive algorithm introduced improve performance. Finally, simulation results presented demonstrate effectiveness proposed algorithms.