期刊
IEEE ACCESS
卷 11, 期 -, 页码 15198-15210出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2023.3245065
关键词
Multiple surface vessels; fixed-time extended state observer; prescribed performance; fixed-time sliding mode control; event-triggered controller
This paper studies the distributed cooperative control problem for multiple surface vessels subject to unknown environmental disturbances, model uncertainties, unavailable velocities and prescribed performance constraints. Firstly, a fixed-time extended state observer is designed to provide estimations of velocities and disturbances. Secondly, a hyperbolic cosecant prescribed performance function is incorporated to improve the convergence performance of the vessels. Finally, a fixed-time event-triggered control law with prescribed performance constraint is applied, and the stability of the closed-loop system is analyzed using Lyapunov function theory.
This paper studies the distributed cooperative control problem for multiple surface vessels (MSVs) subject to unknown environmental disturbances, model uncertainties, unavailable velocities and prescribed performance constraints. Firstly, a fixed-time extended state observer (FxESO) is designed to provide the estimations of velocities and lumped disturbances (including unknown environmental disturbances and model uncertainties). Secondly, to improve the convergence performance of the MSVs, a hyperbolic cosecant prescribed performance function is incorporated into the cooperative control algorithm. Thirdly, a fixed-time event-triggered control law with prescribed performance constraint is applied to cooperative control based on a fixed-time nonsingular terminal sliding mode manifold (FxNTSMM), and the cooperative errors can converge within fixed time. Finally, by employing Lyapunov function theory, the stability of the closed-loop system is analyzed. Simulation results are given to demonstrate the effectiveness of the proposed control scheme.
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