This paper deals with the finite-time trajectory tracking problem for a typical 3-DOF (degree of freedom) autonomous surface vehicle (ASV) subjected to parametric uncertainties and environmental disturbances. Based on the nonsingular terminal sliding mode control (NTSMC) method, several separate classes of robust control inputs are designed to exactly steer all position states of the 3-DOF AVS to the desired paths during alterable finite times. By exploiting the Lyapunov stability theorem and using mathematical analysis, it is proven that all classes of designed robust control inputs are able to fulfill the mentioned finite-time tracking aim. Moreover, three applicable formulas (represented as several nonlinear inequalities) are extracted to determine the required total finite times for the suggested control schemes. Lastly, all designed control methods are numerically tested onto a benchmark 3-DOF AVS called CyberShip II. Provided computer-based numerical simulations (using MATLAB software) depicted the acceptable performance of the proposed control techniques.

中文翻译：

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三自由度全驱动自主水面车辆的有限时间滑模控制

本文讨论了典型 3-DOF（自由度）自主水面车辆 (ASV) 在参数不确定性和环境干扰下的有限时间轨迹跟踪问题。基于非奇异终端滑模控制 (NTSMC) 方法，设计了几个独立的鲁棒控制输入类别，以在可变的有限时间内将 3-DOF AVS 的所有位置状态精确地引导到所需的路径。通过利用李雅普诺夫稳定性定理和数学分析，证明所有类别的设计鲁棒控制输入都能够实现上述有限时间跟踪目标。此外，提取了三个适用的公式（表示为几个非线性不等式）以确定建议控制方案所需的总有限时间。最后，所有设计的控制方法都在名为 Cyber​​Ship II 的基准 3-DOF AVS 上进行了数值测试。提供的基于计算机的数值模拟（使用 MATLAB 软件）描述了所提出的控制技术的可接受性能。