Finite-Gain Prescribed-Time-Synchronized Formation Control for ASVs Under Output Constraints

Area of Science:

• Robotics and Control Systems
• Marine Engineering
• Applied Mathematics

Background:

• Autonomous surface vehicles (ASVs) require robust formation control strategies.
• Existing methods often struggle with time-varying output constraints and achieving rapid convergence.
• Prescribed-time control offers a way to guarantee convergence within a finite, user-defined time.

Purpose of the Study:

• To develop a prescribed-time-synchronized (PTS) formation control strategy for multiple ASVs.
• To address challenges posed by time-varying output constraints.
• To ensure stable convergence within a specified time frame with finite gains.

Main Methods:

• Establishment of a novel prescribed-time stability lemma.
• Development of a PTS constrained stable system (PTSCSS) using finite-gain adjustment functions.
• Design of a PTSCSS-based sliding manifold and finite-gain sliding-mode controller.
• Rigorous stability proof using Lyapunov analysis.

Main Results:

• The proposed PTSCSS ensures simultaneous state convergence to the origin within the prescribed time.
• Finite gains are maintained throughout the control process.
• Time-varying constraints are strictly satisfied after a designated switching instant.
• Comparative simulations demonstrate the effectiveness of the control method.

Conclusions:

• The developed PTS formation control strategy effectively manages ASVs under time-varying constraints.
• The method guarantees convergence within a prescribed time with enhanced stability properties.
• This research advances the capabilities of coordinated control for multi-ASV systems.