Nonsingular Terminal Sliding Mode Control of ROV system with three methods

Finite time stability is a more complete concept than asymptotic stability. In this paper, The Terminal Sliding Mode Control (TSMC) method is proposed to design three finite time control inputs with different settling time. The control inputs of the system are derived firstly according to three different lemmas and Lyapunov theorem and subsequently, they are simulated in MATLAB Simulink environment, and comparison is made between them. The designed control inputs, in addition to finite time stability, have other advantages such as robustness against uncertainties and external disturbances, as well as remove undesirable chattering occurrence completely.