Abstract：The inner structure and operational principle of the underwater spherical exploring robot BYSQ-3 are described, and the kinematic and dynamic models are established. The diffeomorphism transformation and input transformation are employed to decouple the proposed model into two subsystems. The second subsystem is a cascaded system consisting of two double-integrator systems. A finite-time stabilization controller is designed to ensure part states converge to zero in finite time, and then globally asymptotical stability can be realized in the whole system within a short time. No virtual input is used in the whole process. Compared with traditional nonlinear design methods, the designed controller is easy for engineering implementation and is beneficial to energy saving. The simulation and experiment results are presented to validate the shorter convergence time and better stability of the presented finite-time controller, and the overshoot is less than 5%.
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