Robust predefined fixed-time formation-containment control for multiple unmanned surface vehicles with input saturation
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View abstract on PubMed
Summary
This summary is machine-generated.This study introduces a new control method for unmanned surface vehicles (USVs) to achieve fixed-time formation-containment. The approach ensures vehicles maintain formation and stay within bounds despite disturbances and saturation.
Area Of Science
- Robotics and Control Systems
- Marine Engineering
- Autonomous Systems
Background
- Unmanned Surface Vehicles (USVs) require robust control for coordinated tasks.
- Formation-containment control is crucial for multi-USV operations.
- Challenges include unknown disturbances and input saturation.
Purpose Of The Study
- To address the predefined fixed-time formation-containment (PFTFC) control problem for USVs.
- To develop a control strategy effective under unknown disturbances and input saturation.
- To achieve convergence within a fixed time.
Main Methods
- A two-layer control framework: trajectory estimation and trajectory tracking.
- A novel fixed-time trajectory estimator for leaders and followers.
- A fixed-time disturbance observer and auxiliary system to handle disturbances and saturation.
- Fixed-time control laws combining Lyapunov stability and integral sliding mode control.
Main Results
- Successful estimation of desired trajectories for all USVs.
- Effective mitigation of unknown disturbances and input saturation effects.
- Demonstration of fixed-time convergence to the desired formation-containment configuration.
- Validation through numerical simulations.
Conclusions
- The proposed method effectively solves the PFTFC problem for USVs.
- The approach guarantees fixed-time stability and robustness against uncertainties.
- The two-layer framework provides a systematic solution for complex USV coordination.
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