This paper investigates the finite-time tracking problem for autonomous underwater vehicles (AUVs) in the presence of external disturbance and modelling uncertainty. A finite-time tracking control scheme is proposed based on an improved non-singular terminal sliding mode manifold. Firstly, in order to achieve finite-time stability and avoid singular problem, a continuous and smooth non-singular terminal sliding mode manifold is designed based on a piecewise function. And then a continuous control law is designed by indirectly estimating the bound of the general uncertainty, to compensate the external disturbance and modelling uncertainty. Based on the Lyapunov stability analysis, it is verified that the tracking error can converge to a certain range near zero in a finite time. Finally, the proposed control scheme is applied to ODIN AUV and compared with another two finite-time tracking controllers. Simulation results show the effectiveness of the proposed control scheme.

本文研究了存在外部干扰和建模不确定性的自主水下航行器 (AUV) 的有限时间跟踪问题。提出了一种基于改进的非奇异终端滑模流形的有限时间跟踪控制方案。首先，为了实现有限时间稳定性和避免奇异问题，基于分段函数设计了一个连续光滑的非奇异末端滑模流形。然后通过间接估计一般不确定性的界限，设计出连续控制律，以补偿外部干扰和建模不确定性。基于李雅普诺夫稳定性分析，验证了跟踪误差可以在有限时间内收敛到接近零的某个范围。最后，将所提出的控制方案应用于 ODIN AUV 并与另外两个有限时间跟踪控制器进行比较。仿真结果表明了所提出的控制方案的有效性。