Heading control of Air Cushion Vehicle with disturbance observer based on terminal sliding mode

In order to improve the heading control of Air Cushion Vehicle (ACV), designing a heading controller of ACV based on nonsingular terminal sliding mode control (TSM) with disturbance observer (DO). On one hand, due to the quick response and robustness of nonsingular terminal sliding mode control, the trajectory error converges to zero in finite time. On the other hand, the chattering in sliding mode control process is reduced by sliding mode control combine with DO and replacing the traditional sign function with Sigmoid function. Simulation results shows that the designed controller reduces chattering of SMC effectively, and the effect of overcoming external disturbances and uncertainties is better than normal sliding mode control.