Fuzzy Extended State Observer-based Finite-time Tracking Control for a Cross-media Vehicle

A fuzzy extended state observer-based finite-time cross-media tracking control approach is presented for a slender body cross-media vehicle(SBCMV) in the presence of unknown hydrodynamics and external disturbances. A novel fuzzy extended state observer, capable of intelligently adjusting the bandwidth to obtain excellent observation performance, is developed not only to estimate the vehicle’s velocity but also to handle the lumped disturbance of the system. Then the finite-time output feedback control scheme is developed by means of the presented observer and backstepping technique. The proposed control method does not suffer from the singularity problem in the traditional finite-time backstepping and is able to make all states of the SBCMV converge in a finite time without velocity measurement. The superiority of our work is manifested in the simulations.