| Autor: |
Shun An, Yang Liu, Xiaoyuan Wang, Zhimin Fan, Qiang Zhang, Yan He, Longjin Wang |
| Jazyk: |
angličtina |
| Rok vydání: |
2023 |
| Předmět: |
|
| Zdroj: |
Journal of Marine Science and Engineering, Vol 11, Iss 8, p 1522 (2023) |
| Druh dokumentu: |
article |
| ISSN: |
2077-1312 |
| DOI: |
10.3390/jmse11081522 |
| Popis: |
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-varying 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. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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