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Fixed-Time Fault-Tolerant Formation Control for Uncertain Nonlinear Multi-USVs With Actuator Failures

Author

Listed:
  • Haoyue Lin
  • Weiting Kong
  • Yixiang Gu
  • Senlin Xie

Abstract

The fixed-time fault-tolerant formation control (FTFC) issue is investigated for nonlinear multi-USVs considering unknown dynamics, external disturbances, and time-varying actuator failures. To further mitigate the burden on the channel, a nonmonitoring adaptive periodic event-triggered quantized (NM-APETQ) mechanism is devised, in which the quantized trigger time can be adjusted adaptively. Then, by using adaptive control technology, an adaptive fault-tolerant control protocol is proposed to compensate for the external disturbances and time-varying actuator failures automatically, greatly reducing the online computational burden of the controller. Furthermore, with the aid of fixed-time stability theory, neural networks, and adaptive control techniques, a distributed fixed-time adaptive FTFC method is developed, enabling fast fixed-time convergence. Eventually, the effectiveness of the presented approach for multi-USV systems was verified by theoretical analysis and simulation.

Suggested Citation

  • Haoyue Lin & Weiting Kong & Yixiang Gu & Senlin Xie, 2026. "Fixed-Time Fault-Tolerant Formation Control for Uncertain Nonlinear Multi-USVs With Actuator Failures," Complexity, Hindawi, vol. 2026, pages 1-20, March.
    • Handle: RePEc:hin:complx:3194594
    DOI: 10.1155/cplx/3194594
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