A Finite-Time Disturbance Observer Based Full-Order Terminal Sliding-Mode Controller for Manned Submersible with Disturbances

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transform="matrix(.0091,0,0,-0.0091,35.636,3.132)"><path d="M463 633C453 636 427 644 417 648C388 660 349 667 316 667C183 667 100 592 100 483C100 398 176 335 223 305L259 282C321 242 358 203 358 149C358 66 301 22 234 22C110 22 70 131 57 208L24 205L28 48C51 23 128 -17 215 -17C342 -17 446 60 446 174C446 262 394 310 317 361L284 383C229 420 183 455 183 515C183 569 222 628 298 628C384 628 418 563 428 481L461 487C459 527 458 593 463 633Z" id="g50-84"></path></g></svg></span></td></tr><tr><td class="thead-hr" colspan="7"><hr/></td></tr><tr><td class="align_left">FTDO-FOTSMC</td><td class="align_center">0.3591m</td><td class="align_center">0.3289m</td><td class="align_center">0.0277m</td><td class="align_center">0.0005rad</td><td class="align_center">0.0008rad</td><td class="align_center">0.0004rad</td></tr><tr><td class="align_left">FOTSMC</td><td class="align_center">0.9082m</td><td class="align_center">0.6322m</td><td class="align_center">0.0920m</td><td class="align_center">0.0061rad</td><td class="align_center">0.0030rad</td><td class="align_center">0.0097rad</td></tr><tr><td class="align_left">NDO-SMC</td><td class="align_center">0.4170m</td><td class="align_center">0.4479m</td><td class="align_center">0.0612m</td><td class="align_center">0.0036rad</td><td class="align_center">0.0012rad</td><td class="align_center">0.0033rad</td></tr><tr class="table-tr"><td colspan="7"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>The root-mean-square (RMS) of tracking errors.</div>

Mathematical Problems in Engineering

tab1

Table 1

Table 1: A Finite-Time Disturbance Observer Based Full-Order Terminal Sliding-Mode Controller for Manned Submersible with Disturbances 