This study presents a finite-time spatial path following control method for a robotic underactuated airship subject to model uncertainties and external disturbances. A finite-time path following approach is proposed by combining the backstepping approach with the terminal sliding mode control technique, and the upper bounds of model uncertainties and external disturbances are estimated by the designed adaptive laws. Compared with existing works on the path following control of airships, the algorithm presented in this study can guarantee the airship track a spatial predefined path in finite time in the presence of model uncertainties and external disturbances. Simulations are given to illustrate the effectiveness of the proposed path following control method.

中文翻译：

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机器人欠驱动飞艇的有限时间空间路径跟随控制

这项研究提出了一种受模型不确定性和外部干扰影响的机器人欠驱动飞艇的有限时间空间路径跟随控制方法。通过将反推方法与终端滑模控制技术相结合，提出了一种有限时间路径跟踪方法，并通过设计的自适应律来估计模型不确定性和外部干扰的上限。与现有的飞艇路径跟踪控制研究相比，本文提出的算法可以保证飞艇在存在模型不确定性和外部干扰的情况下，能够在有限的时间内跟踪预定的空间预定路径。仿真表明了所提出的路径跟随控制方法的有效性。