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Fixed-time Formation of AUVs with Disturbance via Event-triggered Control

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Abstract

This work focuses on the fixed-time event-triggered formation control problem for multi-AUV systems with external uncertainties, which can significantly reduce energy consumption and the frequency of the controller updates. At the same time, the convergence speed of the system is improved. To tackle with the problem of explosion of differentiation terms in backstepping method, a command filter is introduced to represent the derivative of virtual variables. Moreover, the distributed control strategy is considered and the lumped uncertainties are tackled with the super-twisting sliding mode method. It is proved that under the proposed event-triggered control strategies the Zeno behavior is avoided. Further, fixed-time formation control method can be finished within a fixed settling time with arbitrary initial states of the multi-AUV. Finally, simulation is presented to show the effectiveness and validity of the fixed-time event-triggered formation protocols for the multi-AUV systems.

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Authors and Affiliations

  1. College of the electrical engineering of Yanshan University, Qinhuangdao, Hebei, 066004, China

    Bo Su, Hongbin Wang, Yueling Wang & Jing Gao

Authors
  1. Bo Su
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  2. Hongbin Wang
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  3. Yueling Wang
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  4. Jing Gao
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Corresponding author

Correspondence to Hongbin Wang.

Additional information

Recommended by Associate Editor Saleh Mobayen under the direction of Editor Myo Taeg Lim.

This research was supported by the Foundation of Hebei province (Grant F2016203496).

Bo Su received her master’s degree from Automation Department of Yanshan University in 2012. Currently, she is a Ph.D. student majoring in control theory and control engineering at Yanshan University in 2016. Her research interests include research on nonlinear control of underwater vehicles and underactuated system control.

Hongbin Wang received his bachelor’s and master’s degrees in automation from Northeast Heavy Machinery Institute, Qinhuangdao, China, and Yanshan University, Qinhuangdao, China, and a Ph.D. degree in control theory and control engineering from Yanshan University, Qinhuangdao, China, in 1988, 1993, and 2005, respectively. His current research interests include process automation, robot control technology, variable structure control system, robust control, and visual servo.

Yueling Wang received his master’s degree on control theory and control engineering in Yanshan University, China, in 2005. Currently, he is a lecturer in the Key Lab of Industrial Computer Control Engineering of Hebei Province, and a Ph.D. candidate in College of Mechanical Engineering, Yanshan University, China. His main research interests include intelligent control, iterative learning control, and adaptive control.

Jing Gao received her bachelor’s degree from Automation Department of Northeast DianLi University in 2018. Currently, she is a master’s student in control theory and control engineering at Yanshan University in 2018. Her research interests include research on nonlinear control of underwater vehicles and underactuated system control.

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Su, B., Wang, H., Wang, Y. et al. Fixed-time Formation of AUVs with Disturbance via Event-triggered Control. Int. J. Control Autom. Syst. 19, 1505–1518 (2021). https://doi.org/10.1007/s12555-020-0127-0

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  • DOI: https://doi.org/10.1007/s12555-020-0127-0

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