Abstract
This paper investigates the non-singular predefined-time sliding mode control problem for unmanned surface vehicles (USVs) based on a fuzzy disturbance observer (FDO). Firstly, a fuzzy disturbance observer is designed to estimate the lumped system uncertainties. Secondly, a non-singular predefined-time sliding surface is proposed, and a corresponding non-singular predefined-time control law is developed in conjunction with the fuzzy disturbance observer. The stability and arrival time of the system are analyzed using Lyapunov stability theory. Finally, simulations verify the effectiveness of the proposed non-singular predefined-time sliding mode control method.