关键字：MODE FORMATION CONTROL; NONLINEAR-SYSTEMS; DESIGN; DISTURBANCES; PARAMETER; AUVS

摘要：This paper focuses on the fixed-time leader-follower formation control of multiple underwater vehicles (MUVs) in the presence of external disturbances. First, an adaptive fixed-time disturbance observer (AFxDO) is developed to deal with unknown time-ying environmental disturbances. The developed AFxDO guarantees the fixed-time convergence property of the disturbance observation error and no prior information on the external disturbances or their derivatives is required. Then, with the aid of the developed AFxDO, a distributed event-triggered fixed-time backstepping controller was developed to achieve the leader-follower formation tracking control of MUVs. To solve the "explosion of complexity" problem inherent in the conventional backstepping, a nonlinear filter is introduced to obtain the derivative of the virtual control law. Furthermore, to reduce the communication burden, the event-triggered mechanism is integrated into the formation tracking controller. The stability analysis shows that the closed-loop MUV system is practical fixed-time stable. Finally, simulation results demonstrate the effectiveness of the proposed scheme.

卷号：11

期号：8

是否译文：否