|Table of Contents|

Citation:
　Hongmin Niu,Shiquan Zhao,Cristina I. Muresan,et al.Enhanced Fractional-Order Nonsingular Terminal Sliding Mode Control for Fully Submerged Hydrofoil Craft with Actuator Saturation[J].Journal of Marine Science and Application,2025,(6):1264-1278.[doi:10.1007/s11804-025-00639-y]
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Enhanced Fractional-Order Nonsingular Terminal Sliding Mode Control for Fully Submerged Hydrofoil Craft with Actuator Saturation

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Title:
Enhanced Fractional-Order Nonsingular Terminal Sliding Mode Control for Fully Submerged Hydrofoil Craft with Actuator Saturation
Author(s):
Hongmin Niu1;  Shiquan Zhao2;  Cristina I. Muresan3;  Clara Mihaela Ionescu4; 5
Affilations:
Author(s):
Hongmin Niu1;  Shiquan Zhao2;  Cristina I. Muresan3;  Clara Mihaela Ionescu4; 5
1. School of Electronics and Control Engineering, Chang’an University, Xi’an, 710064, China;
2. College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, 150001, China;
3. Department of Automation, Technical University of Cluj-Napoca, Cluj-Napoca, 400114, Romania;
4. Research Group on Dynamical Systems and Control, Faculty of Engineering and Architecture, Ghent University, Gent, 9052, Belgium;
5. Flanders Make Core Lab Engineering in Machineries, Intelligence, Robotics and Electromechanics, Gent, 9052, Belgium
Keywords:
Fully submerged hydrofoil craft; Longitudinal motion control; Fractional-order terminal sliding mode control; Disturbance observer; Saturation compensation
分类号:
-
DOI:
10.1007/s11804-025-00639-y
Abstract:
This study introduces an enhanced adaptive fractional-order nonsingular terminal sliding mode controller (AFONTSMC) tailored for stabilizing a fully submerged hydrofoil craft (FSHC) under external disturbances, model uncertainties, and actuator saturation. A novel nonlinear disturbance observer modified by fractional-order calculus is proposed for flexible and less conservative estimation of lumped disturbances. An enhanced adaptive fractional-order nonsingular sliding mode scheme augmented by disturbance estimation is also introduced to improve disturbance rejection. This controller design only necessitates surpassing the estimation error rather than adhering strictly to the disturbance upper bound. Additionally, an adaptive fast-reaching law with a hyperbolic tangent function is incorporated to enhance the responsiveness and convergence rates of the controller, thereby reducing chattering. Furthermore, an auxiliary actuator compensator is developed to address saturation effects. The resultant closed system of the FSHC with the designed controller is globally asymptotically stable.

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Memo

Memo:
Received date:2024-5-24;Accepted date:2024-11-23。<br>Foundation item:Supported by Natural Science Basic Research Program of Shaanxi under Grant No. 2023-JC-QN-0751, No. 2023-JC-QN-0778; Fundamental Research Funds for the Central Universities, CHD under Grant No. 300102324102; the National Natural Science Foundation of China under Grant Nos. 72471035, 52271313; Fundamental Research Funds for the Central Universities under Grant No. XK2040021004025.<br>Corresponding author:Hongmin Niu,E-mail:niuhongmin@chd.edu.cn
Last Update: 2025-12-26