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Predefined-time sliding mode formation control for multiple autonomous underwater vehicles with uncertainties

Author

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  • Wang, Yang
  • Wang, Zhen
  • Chen, Mingshu
  • Kong, Lingyun

Abstract

In this paper, the follower-leader formation tracking control problem of multiple autonomous underwater vehicles (AUVs) with uncertainties is addressed. A predefined-time sliding-mode reaching law and a predefined-time sliding-mode surface are developed. Then, a novel predefined-time sliding-mode controller (SMC) is proposed. The newly proposed predefined-time SMC extends the recent finite-time and fixed-time schemes and exhibits the following attractive features: (i) The convergence time of finite-time SMC scheme is affected by the initial system conditions. Like the fixed-time SMC, the proposed control scheme can guarantee that the tracking error converges to zero in a finite time which is independent on the initial system conditions; (ii) Unlike the fixed-time SMC, the proposed scheme provides a new appealing advantage is that, the convergence time of proposed scheme is predefined, which means the proposed control scheme can directly achieve the desired convergence time without using the trial and error to choose control parameters. Finally, the numerical simulation demonstrates the effectiveness of the proposed method.

Suggested Citation

  • Wang, Yang & Wang, Zhen & Chen, Mingshu & Kong, Lingyun, 2021. "Predefined-time sliding mode formation control for multiple autonomous underwater vehicles with uncertainties," Chaos, Solitons & Fractals, Elsevier, vol. 144(C).
    • Handle: RePEc:eee:chsofr:v:144:y:2021:i:c:s0960077921000333
    DOI: 10.1016/j.chaos.2021.110680
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    Citations

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    Cited by:

    1. Zhang, Guodong & Cao, Jinde, 2023. "New results on fixed/predefined-time synchronization of delayed fuzzy inertial discontinuous neural networks: Non-reduced order approach," Applied Mathematics and Computation, Elsevier, vol. 440(C).
    2. Gao, Shanshan & Zhang, Shenggui & Chen, Xinzhuang, 2023. "Effects of changing the weights of arcs on the consensus convergence rate of a leader–follower multi-agent system," Chaos, Solitons & Fractals, Elsevier, vol. 172(C).
    3. Khalid A. Alattas & Mai The Vu & Omid Mofid & Fayez F. M. El-Sousy & Abdullah K. Alanazi & Jan Awrejcewicz & Saleh Mobayen, 2022. "Adaptive Nonsingular Terminal Sliding Mode Control for Performance Improvement of Perturbed Nonlinear Systems," Mathematics, MDPI, vol. 10(7), pages 1-18, March.
    4. Pu, Hao & Li, Fengjun, 2023. "Fixed/predefined-time synchronization of complex-valued discontinuous delayed neural networks via non-chattering and saturation control," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 610(C).
    5. Zhang, Mengjiao & Zang, Hongyan & Bai, Luyuan, 2022. "A new predefined-time sliding mode control scheme for synchronizing chaotic systems," Chaos, Solitons & Fractals, Elsevier, vol. 164(C).
    6. Mobayen, Saleh & Alattas, Khalid A. & Fekih, Afef & El-Sousy, Fayez F.M. & Bakouri, Mohsen, 2022. "Barrier function-based adaptive nonsingular sliding mode control of disturbed nonlinear systems: A linear matrix inequality approach," Chaos, Solitons & Fractals, Elsevier, vol. 157(C).
    7. Zhang, Xin & Shi, Ran, 2022. "Novel fast fixed-time sliding mode trajectory tracking control for manipulator," Chaos, Solitons & Fractals, Elsevier, vol. 162(C).
    8. Jiang, Xiaowei & Zhang, Ni & Li, Bo & Zhang, Xianhe, 2023. "Impulsive consensus of nonlinear multi-agent systems with input and state saturation constraints," Chaos, Solitons & Fractals, Elsevier, vol. 174(C).

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