Distributed fixed-time formation control for UAV-USV multiagent systems based on the FEWNN with prescribed performance

Abstract

This paper investigates the problem of formation trajectory tracking control for heterogeneous multiagent systems with error time-varying constraints, prescribed performance and external disturbances. The multiagent system consists of multiple unmanned aerial vehicles (UAVs) and multiple unmanned surface vessels (USVs). First, a distributed fixed-time adaptive state observer is designed for each agent to obtain the virtual leader's state accurately, which is important for accomplishing a specific formation. Second, a funnel function is introduced as the prescribed performance function to constrain the tracking error, and a formation tracking control protocol with error time-varying constraints is proposed to ensure that all followers quickly achieve formation tracking and the specific formation. Third, a fixed-time fuzzy Elman wavelet neural network (FEWNN) is proposed to approximate the external disturbances for UAV-USV systems to improve robustness. Through the Lyapunov function theorem, the proposed distributed fixed-time formation control approach can ensure that the closed-loop system is stable within a fixed time. Finally, the simulation results demonstrate the feasibility and flexibility of the proposed approach.