Finite-time robust containment control for autonomous surface vehicle with input saturation constraint

In this paper, a finite-time containment robust control scheme is proposed for autonomous surface vehicle with input saturation constraint. Firstly, to achieve finite-time containment control, a saturated distributed equivalent control algorithm is proposed based on the position and velocity measurements of neighbors and a part of leaders; In light of the tools from algebraic graph theory and homogeneous theory, it is theoretically proven that all the follower will converge to the convex hull formed by the virtual leaders in finite-time; Then, in order to suppress the influence of external disturbance, a nonlinear integral sliding mode surface based on equivalent control law is designed. Combined with finite-time Lyapunov stability theory, a finite time cooperative control law is proposed, which makes the system tend to sliding surface in finite-time from any initial state; Finally, simulation results are presented to verify the effectiveness of the proposed control scheme.

Automated summary

This paper proposes a finite-time containment robust control scheme for autonomous surface vehicles with input saturation constraint. By utilizing a saturated distributed equivalent control algorithm based on position and velocity measurements of neighbors and a part of leaders, the finite-time containment control is achieved. Moreover, a nonlinear integral sliding mode surface and finite-time Lyapunov stability theory are applied to design a finite-time cooperative control law, which makes the system converge to the sliding surface in finite-time. Simulation results are presented to demonstrate the effectiveness of the proposed control scheme.