Fixed-time precision formation control of multi-AUVs with assured transient performance

Abstract

A rapid and stable dimensional augmented state observer (RSDASO), employing an event-driven control strategy, is proposed to tackle the challenges of trajectory-tracking formation control for multiple autonomous underwater vehicles (AUVs). This approach addresses state constraints, unmeasurable states, model uncertainties, limited communication resources, and unknown external time-varying disturbances. The initial phase involves developing a RSDASO to estimate superimposed disturbances and unmeasurable states within the system, ensuring that the estimation error converges within a fixed time. Subsequently, a smoothly decreasing performance function is integrated into the controller design using the observer and an adaptive fixed-time filter. This approach ensures that the system error converges in fixed time, preventing a ”computational explosion” while maintaining the transient performance of the system. Additionally, an event-triggered mechanism (ETM) is incorporated to mitigate the communication resource burden on the system. Finally, simulation experiments validate the efficacy of the proposed control strategy.