Abstract
In this paper, a disturbance observer-based fixed-time formation control method is studied for autonomous underwater vehicles with actuator faults, model uncertainties and external disturbances. Firstly, the leader-follower strategy is combined with the artificial potential field method to obtain the formation configuration. Then, a fast fixed-time disturbance observer is designed to deal with unknown composite disturbances. Further, based on the disturbance observer and fixed-time nonsingular terminal sliding-mode surface, a novel fast fixed-time formation control method is proposed. Finally, simulation results show the effectiveness of the proposed method.
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Qin, H., Si, J., Gao, L. (2023). Disturbance Observer-Based Fast Fixed-Time Nonsingular Terminal Sliding-Mode Formation Control for Autonomous Underwater Vehicles. In: Karimi , H.R., Wang, N. (eds) Sensor Systems and Software. S-Cube 2022. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, vol 487. Springer, Cham. https://doi.org/10.1007/978-3-031-34899-0_10
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