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Robust predefined fixed-time formation-containment control for multiple unmanned surface vehicles with input

Yong Chen1, Jinlong Huang1, Fuxi Niu1

  • 1School of Automation, Central South University, Changsha, 410004, China.

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|June 24, 2025
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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.

Keywords:
Fixed-time controlFixed-time disturbance observerFormation-containment controlUnmanned surface vehicles

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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.