文章基本信息

标题：Fixed-Time Formation Control for Unmanned Surface Vehicles with Parametric Uncertainties and Complex Disturbance
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作者：Shen, Helong ; Yin, Yong ; Qian, Xiaobin 等
期刊名称：Journal of Marine Science and Engineering
电子版ISSN：2077-1312
出版年度：2022
卷号：10
期号：9
页码：1-18
DOI：10.3390/jmse10091246
语种：English
出版社：MDPI AG
摘要：In this paper, under parametric uncertainties and complex disturbances, a leader–follower formation control strategy based on accurate disturbance observer (ADO) and a novel fixed-time fast terminal sliding mode (FTFTSM) control for unmanned surface vehicles (USVs) is proposed. The main contributions of this paper are: (1) A novel fixed-time fast terminal sliding mode tracking control (FTFTSM-TC) strategy is designed for the tracking control subsystem, which greatly improves the convergence rate of the leader USV in trajectory tracking. (2) An ADO is designed to observe lumped disturbances with the smallest approximation error. The ADO greatly reduces the interference of disturbances and improves the performance of the formation system. (3) An ADO-based fixed-time formation control (ADO-FTFC) strategy is developed for the formation control subsystem to maintain the desired formation. Stability of the formation control system is established by the Lyapunov theory. Simulation results show that the proposed control strategy is superior for the USVs formation control.
关键词：unmanned surface vehicles; leader–follower formation; fixed-time theory; sliding mode control; accurate disturbance observer