Neutral Networks-Based Adaptive Fixed-Time Consensus Tracking Control for Uncertain Multiple AUVs

Abstract

This paper is concerned with the fixed-time consensus tracking problem for multi-AUV (autonomous underwater vehicle) systems with uncertain parameters and external disturbances. Firstly, a fixed-time terminal sliding mode is proposed, which can avoid the singularity problem. Then, a continuous distributed consensus tracking control law is designed based on Neutral Network approximation technique, which can guarantee the consensus tracking errors converge to the desired regions in fixed time. A simulation example is given to show the effectiveness of proposed methods.