International Journal of Robust and Nonlinear Control最新文献

{"title":"Dynamic Event-Triggered Fixed-Time Neural Adaptive Containment Control for Nonlinear Multiagent Systems With Input Saturation","authors":"Zhucheng Liu,&nbsp;Feisheng Yang","doi":"10.1002/rnc.8047","DOIUrl":"https://doi.org/10.1002/rnc.8047","url":null,"abstract":"<div>\u0000 \u0000 <p>This study concerns the topic of event-based practical fixed-time containment control for uncertain nonstrict feedback nonlinear multiagent systems with input saturation under the directed graph. The algebraic ring problem in recursive design process can be effectively resolved using Gaussian function's property. An auxiliary signal has been introduced that is practical fixed-time stable and capable of overcoming symmetrical or asymmetrical input saturation. Then, an event-triggered neural adaptive fixed-time cooperative tracking control scheme is developed via dynamic surface control and dynamic event-triggered mechanism. The raised fixed-time control strategy can not only remove the singularity issue but also circumvent the complex explosion problem of backstepping technique. Moreover, all variables in the closed-loop system are proved to be fixed-time bounded by integrating the designed auxiliary signal into the entire Lyapunov function. Finally, simulation results validate the effectiveness of the presented control method.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 14","pages":"6190-6202"},"PeriodicalIF":3.2,"publicationDate":"2025-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145102208","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Robust Fault-Tolerant Tracking Control for Nonlinear Systems Using a Takagi-Sugeno Fuzzy Model Based on a State and Fault Fuzzy Observer","authors":"Bao Trung Dong,&nbsp;Thi Van Anh Nguyen","doi":"10.1002/rnc.8049","DOIUrl":"https://doi.org/10.1002/rnc.8049","url":null,"abstract":"<div>\u0000 \u0000 <p>This article presents a robust fault-tolerant tracking control (RFTTC) scheme based on the <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <msub>\u0000 <mrow>\u0000 <mi>H</mi>\u0000 </mrow>\u0000 <mrow>\u0000 <mi>∞</mi>\u0000 </mrow>\u0000 </msub>\u0000 </mrow>\u0000 <annotation>$$ {H}_{infty } $$</annotation>\u0000 </semantics></math> criterion to mitigate the effects of disturbances. The scheme integrates a state and fault fuzzy observer to enhance system performance by estimating faults while simultaneously reducing the number of states that need to be measured. The proposed controller is capable of controlling a nonlinear system to track a reference model when faults occur by estimating the faults and integrating this information with the fault-tolerant tracking control (FTTC) mechanism and the reference model control signal. The Takagi-Sugeno (T-S) fuzzy model is used to describe general nonlinearity within a certain sector, decomposing it into local linear subsystems. The fault-tolerant tracking control/fault estimation (FTTC/FE) scheme enhances performance using <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <msub>\u0000 <mrow>\u0000 <mi>H</mi>\u0000 </mrow>\u0000 <mrow>\u0000 <mi>∞</mi>\u0000 </mrow>\u0000 </msub>\u0000 </mrow>\u0000 <annotation>$$ {H}_{infty } $$</annotation>\u0000 </semantics></math> criteria, which is expressed not only in the FTTC mechanism but also indirectly through the controller of the reference model to achieve RFTTC, especially when the system faces uncertainties or external disturbances. By using an RFTTC mechanism based on a state and fault fuzzy observer, the information related to unknown states and faults is derived. Furthermore, by exploiting the separation principle, the design procedure can be considerably simplified. The controller design conditions are formulated using linear matrix inequalities (LMI) based on the Lyapunov theorem. Finally, to demonstrate the efficiency of the proposed method, numerical simulations for a Rotary Inverted Pendulum with actuator faults and external disturbances are implemented.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 15","pages":"6207-6229"},"PeriodicalIF":3.2,"publicationDate":"2025-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145102206","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Finite-Time Incremental Passivity of Switched Nonlinear Systems and Its Application","authors":"Hongbo Pang,&nbsp;Chenyu Xu","doi":"10.1002/rnc.8053","DOIUrl":"https://doi.org/10.1002/rnc.8053","url":null,"abstract":"<div>\u0000 \u0000 <p>This article focuses on the finite-time incremental passivity of switched nonlinear systems and its application to the output tracking control. First, a new definition of finite-time incremental passivity definition is given for switched nonlinear systems. Compared with the existing definition, the growth of energy may happen at switching times and during active time interval, while at least an active subsystem is finite-time incrementally passive on its active time interval. Second, a sufficient condition of finite-time incremental passivity is provided. Based on this condition, a design method of a switching law dependent on state information is proposed. It is generalization of ‘min’İ switching law. Third, it is verified that the output can track the reference signal in finite time by output feedback, even if only an active subsystem is finite-time incrementally passive. Finally, the validity of the developed theoretical results is verified by two examples.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 15","pages":"6230-6241"},"PeriodicalIF":3.2,"publicationDate":"2025-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145102205","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Fixed-Time Fault-Tolerant Control of a High-Order Fully Actuated System Under Actuator Faults and Uncertain Parameters","authors":"Cheng He,&nbsp;Ruiyun Qi,&nbsp;Bin Jiang","doi":"10.1002/rnc.8046","DOIUrl":"https://doi.org/10.1002/rnc.8046","url":null,"abstract":"<div>\u0000 \u0000 <p>This study proposes a fixed-time fault-tolerant control strategy for high-order fully actuated (HOFA) systems with actuator faults and parameter uncertainties. An online parameter adaptive law is designed to address system parameter uncertainties, whereas Nussbaum functions and projection operators are used to adaptively handle uncertainties from controller coefficient variations and actuator faults, respectively. A fixed-time fault-tolerant controller is developed to ensure stable operation under bias faults and partial-loss-of-effectiveness faults. By integrating the fault-tolerant controller with the adaptive laws, the HOFA system achieves stable control despite faults and uncertainties. A numerical simulation and a hypersonic vehicle validate the robustness and reliability of the proposed strategy.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 14","pages":"6175-6189"},"PeriodicalIF":3.2,"publicationDate":"2025-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145101952","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Hybrid \u0000 \u0000 \u0000 \u0000 \u0000 H\u0000 \u0000 \u0000 2\u0000 \u0000 \u0000 /\u0000 \u0000 \u0000 H\u0000 \u0000 \u0000 ∞\u0000 \u0000 \u0000 \u0000 $$ {H}_2/{H}_{infty } $$\u0000 Interval Observer Design for a Class of MIMO Nonlinear Systems With Interference Noise","authors":"Zeren Yi,&nbsp;Ronghu Wei,&nbsp;Fannie Kong,&nbsp;Wei Xie","doi":"10.1002/rnc.8055","DOIUrl":"https://doi.org/10.1002/rnc.8055","url":null,"abstract":"<div>\u0000 \u0000 <p>An interval observer based on hybrid <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <msub>\u0000 <mrow>\u0000 <mi>H</mi>\u0000 </mrow>\u0000 <mrow>\u0000 <mn>2</mn>\u0000 </mrow>\u0000 </msub>\u0000 <mo>/</mo>\u0000 <msub>\u0000 <mrow>\u0000 <mi>H</mi>\u0000 </mrow>\u0000 <mrow>\u0000 <mi>∞</mi>\u0000 </mrow>\u0000 </msub>\u0000 </mrow>\u0000 <annotation>$$ {H}_2/{H}_{infty } $$</annotation>\u0000 </semantics></math> performance index is proposed for a class of multi-input multi-output (MIMO) nonlinear systems subject to external interference noise in this article. In this article, considering the effect of external interference noise on the nonlinear systems, the interval observer is constructed to obtain the system interval state for the MIMO nonlinear systems. Then, the interval observer gain is calculated by combining the hybrid <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <msub>\u0000 <mrow>\u0000 <mi>H</mi>\u0000 </mrow>\u0000 <mrow>\u0000 <mn>2</mn>\u0000 </mrow>\u0000 </msub>\u0000 <mo>/</mo>\u0000 <msub>\u0000 <mrow>\u0000 <mi>H</mi>\u0000 </mrow>\u0000 <mrow>\u0000 <mi>∞</mi>\u0000 </mrow>\u0000 </msub>\u0000 </mrow>\u0000 <annotation>$$ {H}_2/{H}_{infty } $$</annotation>\u0000 </semantics></math> performance index. The introduced method makes the interval width narrower and reduces the effect of external interference noise. The optimization problem is transformed into linear matrix inequalities. Eventually, the proposed method's theoretical viability has been demonstrated through Lyapunov stability theory. The efficacy of the proposed approach is substantiated through the robotic arm system. The approach making the interval observer obtained interval estimates with smaller interval widths.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 15","pages":"6242-6250"},"PeriodicalIF":3.2,"publicationDate":"2025-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145102209","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Nonlinear Control for Biomedical Applications","authors":"Marcello Bonfè,&nbsp;Saverio Farsoni,&nbsp;Elisabeth Wilhelm","doi":"10.1002/rnc.8033","DOIUrl":"https://doi.org/10.1002/rnc.8033","url":null,"abstract":"&lt;p&gt;Access to adequate health care is essential for humans. However, many healthcare systems around the world are under pressure trying to answer to a growing need with limited financial and personal resources. Modern medical devices can help to reduce the work load of clinical staff and enable more sophisticated treatment options [&lt;span&gt;1&lt;/span&gt;]. However, even though biophysiological signals and biomechanics of the human body express nonlinear behavior, many medical devices for clinical practice still rely on simplified linear equations. The purpose of this special issue is to highlight how non-linear control can contribute to innovate and improve healthcare.&lt;/p&gt;&lt;p&gt;The first topic that emerged from the papers in this special issue was the usage of non-linear control methods for system identification or more particular to derive more information about the human body and its interaction with medical devices [&lt;span&gt;2, 3&lt;/span&gt;]. Zhu et al. demonstrate how an Hunt Crossley contact model with an iterated Kalman filter can be used to identify tissue properties from the contact forces between a robotic manipulator and the human body. This technique is a first promising step on the way towards realistic haptic real time feedback in robot assisted minimal invasive surgery [&lt;span&gt;3&lt;/span&gt;]. The paper “Nonlinear control of a hybrid pneumo-hydraulic mock circuit of the cardiovascular system” by Alhajyounis et al. moves the usage of non-linear control to the test-bench. They employed the Lyapunov stability criterion to control the non-linear pneumatic part of a test bench that simulates the cardio-vascular system of the human body. In in silico test they demonstrate that they could simulate the behavior of normal, failing, and assisted cardiovascular function with high accuracy [&lt;span&gt;2&lt;/span&gt;]. Test benches that correctly represent human anatomy, such as the one explored in the work of Alhajyounis et al., are urgently needed to reduce the need of animal testing and shorten the time to market for medical devices.&lt;/p&gt;&lt;p&gt;The second topic in which nonlinear control plays a crucial role is simulation based optimization of pharmacokinetic processes [&lt;span&gt;4-6&lt;/span&gt;]. Real-time prediction of the reaction of the body on a medication scheme is especially crucial in anesthesiology where combinations of multiple drugs are used to exploit synergistic effects that improve efficiency and reduce toxicity [&lt;span&gt;7&lt;/span&gt;]. Sandre-Hernandez et al. demonstrate that it is possible to model a system that controls for the depth of the hypnosis in a multi-drug regime. To model the complex system they apply multiple-input and multiple output predictive modeling. By utilizing an exponential cost function and solving the optimization problem with quadratic programming they arrive at a model that satisfies the control objective in a simulation based on data from 12 patients [&lt;span&gt;5&lt;/span&gt;]. Pawloski et al. report how depth of hypnosis can be controlled using an event-based general","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 10","pages":"3947-3948"},"PeriodicalIF":3.2,"publicationDate":"2025-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rnc.8033","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144206956","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Prescribed Performance Control of Two-Time-Scale Systems and Its Application","authors":"Ze-Hong Zeng,&nbsp;Yan-Wu Wang,&nbsp;Xiao-Kang Liu,&nbsp;Wu Yang","doi":"10.1002/rnc.8031","DOIUrl":"https://doi.org/10.1002/rnc.8031","url":null,"abstract":"<div>\u0000 \u0000 <p>This article explores the prescribed performance control design for linear two-time-scale systems (TTSSs). Due to ill-conditioning and high dimensionality, existing prescribed performance control methods for single-time-scale systems are unsuitable for TTSSs. Moreover, current TTSS methodologies focus on steady-state performance, often neglecting transient dynamics. To address these challenges, we first apply the Chang transformation to decouple the fast and slow states. Next, we use a state transformation to convert the state equation into block form to eliminate the requirement of a full row-rank input matrix. Finally, the backstepping method is utilized to design the prescribed performance control. The effectiveness and advantages of the proposed control strategy are demonstrated through two examples: a numerical simulation and a hardware-in-the-loop experiment involving an electronic circuit system.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 14","pages":"6147-6156"},"PeriodicalIF":3.2,"publicationDate":"2025-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145101775","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Multi-Objective Control of Phase-Type Semi-Markov Jump Linear Systems Applied to Software-In-The-Loop Aircraft Control","authors":"Sérgio R. Barros dos Santos,&nbsp;André M. de Oliveira,&nbsp;Oswaldo L. V. Costa,&nbsp;Gabriela W. Gabriel","doi":"10.1002/rnc.8037","DOIUrl":"https://doi.org/10.1002/rnc.8037","url":null,"abstract":"<div>\u0000 \u0000 <p>In this work, we tackle the multi-objective control for phase-type semi-Markov jump linear systems in the context of partial observation of the jump variable. Design conditions for state feedback controllers depending on cluster observations, which ensure bounds on the <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <msub>\u0000 <mrow>\u0000 <mi>H</mi>\u0000 </mrow>\u0000 <mrow>\u0000 <mn>2</mn>\u0000 </mrow>\u0000 </msub>\u0000 </mrow>\u0000 <annotation>$$ {H}_2 $$</annotation>\u0000 </semantics></math>, <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <msub>\u0000 <mrow>\u0000 <mi>H</mi>\u0000 </mrow>\u0000 <mrow>\u0000 <mi>∞</mi>\u0000 </mrow>\u0000 </msub>\u0000 </mrow>\u0000 <annotation>$$ {H}_{infty } $$</annotation>\u0000 </semantics></math>, and energy-to-peak performance indices, are given in terms of linear matrix inequalities. The robust case in which the system matrices are uncertain and described by suitable polytopes is also considered. By restricting to the pure Markov jump linear system case with perfect observation of the Markov chain, we show that the <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <msub>\u0000 <mrow>\u0000 <mi>H</mi>\u0000 </mrow>\u0000 <mrow>\u0000 <mn>2</mn>\u0000 </mrow>\u0000 </msub>\u0000 </mrow>\u0000 <annotation>$$ {H}_2 $$</annotation>\u0000 </semantics></math> and <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <msub>\u0000 <mrow>\u0000 <mi>H</mi>\u0000 </mrow>\u0000 <mrow>\u0000 <mi>∞</mi>\u0000 </mrow>\u0000 </msub>\u0000 </mrow>\u0000 <annotation>$$ {H}_{infty } $$</annotation>\u0000 </semantics></math> conditions yield the optimal controllers when solved separately. For validating the results, two types of simulation for controlling an aircraft subject to faults are presented, namely, a conventional <i>Model-in-the-Loop</i> setting, in which the controller and the plant are simulated in the same scientific software; and a <i>Software-in-the-Loop</i> simulation, in which a realistic flight simulator is employed. The simulation results illustrate the effectiveness of the proposed method and are close to the theoretical predictions, suggesting a powerful tool for validating semi-Markov jump controllers in practical settings.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 14","pages":"6071-6090"},"PeriodicalIF":3.2,"publicationDate":"2025-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145101189","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Flatness-Based Control in Successive Loops for Gas-Compressors Actuated by IMs and PMSMs","authors":"Gerasimos Rigatos,&nbsp;Pierluigi Siano,&nbsp;Bilal Sari,&nbsp;Mohammed AL-Numay,&nbsp;Masoud Abbaszadeh,&nbsp;Gennaro Cuccurullo","doi":"10.1002/rnc.8039","DOIUrl":"https://doi.org/10.1002/rnc.8039","url":null,"abstract":"<div>\u0000 \u0000 <p>The article proposes a novel solution to the control problem of centrifugal gas compressors, which are driven by three-phase induction motors (IMs) and three-phase permanent magnet synchronous motors (PMSMs), through a novel flatness-based control scheme which is implemented in successive loops. By rearranging state variables and splitting suitably the state vector of the IM-driven gas-compressor and the PMSM-driven gas compressor into subsystems, one arrives at writing the associated state-space models in the triangular (strict feedback) form. For the latter state-space description, it is possible to solve the control and stabilization problem using chained control loops. The state-space model of the IM-driven gas-compressor and the PMSM-driven gas-compressor is decomposed into cascading subsystems that satisfy differential flatness properties. For these subsystems, virtual control inputs are computed, capable of inverting their dynamics and eliminating the associated tracking error. The control inputs, which are actually applied to the complete nonlinear form of the IM-actuated gas-compressor and the PMSM-actuated gas compressor, are computed from the last subsystem of the chained state-space description. These control inputs incorporate, in a recursive manner, all virtual control inputs that were computed from the individual subsystems included in the initial state-space equation. The control inputs that should be applied to the nonlinear system so as to assure that all state vector elements will converge to the desirable setpoints are obtained at each iteration of the control algorithm by tracing backwards the subsystems of the chained state-space model. The method is of proven global stability and ensures fast and accurate tracking of the reference setpoints by the state variables of the IM-driven gas compressor and of the PMSM-driven gas compressor.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 14","pages":"6091-6114"},"PeriodicalIF":3.2,"publicationDate":"2025-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145101190","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Predefined-Time Cooperative Formation Control of Multiple Underactuated Unmanned Surface Vessels With Smooth Switching Topology","authors":"Xuecheng Zhou,&nbsp;Xuehong Tian,&nbsp;Haitao Liu,&nbsp;Qingqun Mai","doi":"10.1002/rnc.8034","DOIUrl":"https://doi.org/10.1002/rnc.8034","url":null,"abstract":"<div>\u0000 \u0000 <p>In this paper, a predefined-time adaptive fuzzy neural network (PTFNN) fault-tolerant controller is proposed for multiple underactuated unmanned surface vessels (USVs) subject to both actuator faults and input saturation. First, a distributed predefined-time state observer (DPTSO) is designed to estimate the states of the virtual leader, and the unknown nonlinear function consisting of modeling uncertainty, external environmental disturbances, and actuator faults is approximated by PTFNNs. Second, a smooth switching topology algorithm is proposed to solve the problem of changing communication relationships among USVs during the process of changing formation. Third, on the basis of a predefined-time auxiliary dynamic system, a saturation function is constructed to further constrain the control input, smooth the change in the control input, and solve the problem of a nonzero initial control signal. Finally, the stability analysis proves that all the signals within the closed-loop system can converge within a predefined time. Numerical simulations and comparisons with existing methods demonstrate the effectiveness and superiority of the proposed algorithm.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 14","pages":"6051-6070"},"PeriodicalIF":3.2,"publicationDate":"2025-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145101196","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}