Abstract
The problem of prescribed-time containment control of unmanned underwater vehicles (UUVs) with faults and uncertainties is considered. Different from both regular finite-time control and fixed-time control, the proposed prescribed-time control strategy is built upon a novel coordinate transformation function and the block decomposition technique, resulting in the followers being able to move into the convex hull spanned by the leaders in prespecifiable convergence time. Moreover, intermediate variables and the control input terms are also shown to remain uniformly bounded at the prescribed-time. To reduce the magnitude of the bounds, a novel fixed-time observer for the fault is proposed. Two numerical examples are provided to verify the effectiveness of the proposed prescribed-time control strategy.
Highlights
Formation control, a typical behavior in various aspects of systems, has received considerable attention due to its wide applications in spacecraft formation flying, deep-sea inspections, mobile robots and underwater vehicles
While fixed-time stabilization fixes the defects of the finite-time control algorithm, where the convergence time is set by some fixed number independently of the initial condition, it should be emphasized that the settling time in fixed-time control cannot be preassigned arbitrarily, due to the fact that the upper bound of settling time is subject to certain restrictions
In contrast to [5,6,7,8,9], whose converge time is related to the initial values or cannot be preassigned arbitrarily, the results obtained in this paper are the containment control scheme of multiple unmanned underwater vehicles (UUVs) in prescribed-time, which can be arbitrarily assigned regardless of the system restrictions or the initial values
Summary
A typical behavior in various aspects of systems, has received considerable attention due to its wide applications in spacecraft formation flying, deep-sea inspections, mobile robots and underwater vehicles. In [8], the finite-time consensus and collision avoidance control algorithms for multiple UUVs are considered. We propose a novel prescribed-time state feedback controller for MIMO linear systems by employing a novel nonsingular coordinate transformation function based on the block decomposition technique, which allows for both easy prescriptions of the convergence times, and minimal tuning of the observer and controller parameters. In contrast to [5,6,7,8,9], whose converge time is related to the initial values or cannot be preassigned arbitrarily, the results obtained in this paper are the containment control scheme of multiple UUVs in prescribed-time, which can be arbitrarily assigned regardless of the system restrictions or the initial values. Rm×n is the set of m × n real matrices
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