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Precision Fixed-Time Formation Control for Multi-AUV Systems with Full State Constraints

Author

Listed:
  • Yuanfeng Chen

    (School of Intelligent Manufacturing, Guangzhou City Polytechnic, Guangzhou 511300, China)

  • Haoyuan Wang

    (School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, China)

  • Xiaodong Wang

    (School of Intelligent Manufacturing, Guangzhou City Polytechnic, Guangzhou 511300, China)

Abstract

The trajectory tracking the control of autonomous underwater vehicle (AUV) systems faces considerable challenges due to strong inter-axis coupling and complex time-varying external disturbances. This paper proposes a novel fixed-time control scheme incorporating a switching threshold-based event-driven strategy to address critical issues in multi-AUV formation control, including full-state constraints, unmeasurable states, model uncertainties, limited communication resources, and unknown time-varying disturbances. A rapid and stable dimensional augmented state observer (RSDASO) was first developed to achieve fixed-time convergence in estimating aggregated disturbances and unmeasurable states. Subsequently, a logarithmic barrier Lyapunov function was constructed to derive a fixed-time control law that guarantees bounded system errors within a predefined interval while strictly confining all states to specified constraints. The introduction of a switching threshold event-triggering mechanism (ETM) significantly reduced communication resource consumption. The simulation results demonstrate the effectiveness of the proposed method in improving control accuracy while substantially lowering communication overhead.

Suggested Citation

  • Yuanfeng Chen & Haoyuan Wang & Xiaodong Wang, 2025. "Precision Fixed-Time Formation Control for Multi-AUV Systems with Full State Constraints," Mathematics, MDPI, vol. 13(9), pages 1-23, April.
    • Handle: RePEc:gam:jmathe:v:13:y:2025:i:9:p:1451-:d:1644878
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    References listed on IDEAS

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    1. Hongyao Li & Haibin Sun & Linlin Hou, 2020. "Adaptive fuzzy PI output feedback bounded control for a class of switched nonlinear systems with input constraint," International Journal of Systems Science, Taylor & Francis Journals, vol. 51(16), pages 3503-3522, December.
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