A discontinuous control law of an underactuated surface vessel based on fast terminal sliding mode

A discontinuous time-invariant switching feedback control law is proposed to make the states of an underactuated surface vessel convergence to equilibrium point in finite time. After global diffeomorphism and input transformations, explicit formulas of the state feedback control law are respectively proposed for two subsystems based on global fast terminal sliding mode control strategy. Thus, the question of stabilization control of a class of underactuated surface vessel is well solved by a discontinuous way. Results of computer simulation show the effectiveness of the proposed feedback control method.