Command Filter-Based Adaptive Practical Prescribed-Time Asymptotic Tracking Control of Autonomous Underwater Vehicles With Limited Communication Angles

Abstract

This work proposes a command filter-based adaptive practical prescribed-time (PPT) asymptotic tracking control scheme for autonomous underwater vehicles (AUVs) under dynamic uncertainties. Considering that the followers have limited communication angles in the leader–follower formation structure, where a novel controller is proposed to ensure communication angles to achieve preassignable precision within a predefined time. First, we present a PPT control for handling the limited communication angles and, thus, they are allowed to be limited, turnable, and controllable. Then, to achieve the asymptotic convergence of output tracking errors, the proposed adaptive controllers can effectively insure the trajectory tracking errors of AUVs asymptotically converge to zero under the influence of dynamic uncertainties. Furthermore, the derived asymptotically tracking command filter technique for AUVs not only deduce an acceleration-free strategy for followers but also achieve the asymptotic convergence of output tracking errors for the command filters themselves. In the end, the effectiveness of the proposed control strategy is demonstrated through stability analysis and simulation test.