Precision Fixed-Time Formation Control for Multi-AUV Systems with Full State Constraints
The trajectory tracking the control of autonomous underwater vehicle (AUV) systems faces considerable challenges due to strong inter-axis coupling and complex time-varying external disturbances. This paper proposes a novel fixed-time control scheme incorporating a switching threshold-based event-dri...
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| Published in | Mathematics (Basel) Vol. 13; no. 9; p. 1451 |
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| Format | Journal Article |
| Language | English |
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| Abstract | The trajectory tracking the control of autonomous underwater vehicle (AUV) systems faces considerable challenges due to strong inter-axis coupling and complex time-varying external disturbances. This paper proposes a novel fixed-time control scheme incorporating a switching threshold-based event-driven strategy to address critical issues in multi-AUV formation control, including full-state constraints, unmeasurable states, model uncertainties, limited communication resources, and unknown time-varying disturbances. A rapid and stable dimensional augmented state observer (RSDASO) was first developed to achieve fixed-time convergence in estimating aggregated disturbances and unmeasurable states. Subsequently, a logarithmic barrier Lyapunov function was constructed to derive a fixed-time control law that guarantees bounded system errors within a predefined interval while strictly confining all states to specified constraints. The introduction of a switching threshold event-triggering mechanism (ETM) significantly reduced communication resource consumption. The simulation results demonstrate the effectiveness of the proposed method in improving control accuracy while substantially lowering communication overhead. |
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| AbstractList | The trajectory tracking the control of autonomous underwater vehicle (AUV) systems faces considerable challenges due to strong inter-axis coupling and complex time-varying external disturbances. This paper proposes a novel fixed-time control scheme incorporating a switching threshold-based event-driven strategy to address critical issues in multi-AUV formation control, including full-state constraints, unmeasurable states, model uncertainties, limited communication resources, and unknown time-varying disturbances. A rapid and stable dimensional augmented state observer (RSDASO) was first developed to achieve fixed-time convergence in estimating aggregated disturbances and unmeasurable states. Subsequently, a logarithmic barrier Lyapunov function was constructed to derive a fixed-time control law that guarantees bounded system errors within a predefined interval while strictly confining all states to specified constraints. The introduction of a switching threshold event-triggering mechanism (ETM) significantly reduced communication resource consumption. The simulation results demonstrate the effectiveness of the proposed method in improving control accuracy while substantially lowering communication overhead. |
| Audience | Academic |
| Author | Wang, Haoyuan Wang, Xiaodong Chen, Yuanfeng |
| Author_xml | – sequence: 1 givenname: Yuanfeng orcidid: 0000-0002-1347-0162 surname: Chen fullname: Chen, Yuanfeng – sequence: 2 givenname: Haoyuan surname: Wang fullname: Wang, Haoyuan – sequence: 3 givenname: Xiaodong orcidid: 0009-0009-7845-2561 surname: Wang fullname: Wang, Xiaodong |
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| SubjectTerms | autonomous underwater vehicle Autonomous underwater vehicles Communication Constraints Control systems Control theory Design Disturbances event-triggering mechanism fixed-time control formation control full-state constraints Inequality Laws, regulations and rules Liapunov functions Neural networks Remote submersibles State observers Underwater robots Velocity |
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