Fixed-Time Output Feedback Distributed Cooperative Event-Triggered Control for Multiple Surface Vessels With Prescribed Performance Constraints

Abstract

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.INDEX TERMS multiple surface vessels, fixed-time extended state observer, prescribed performance, fixed-time sliding mode control, event-triggered controller

Global Prescribed Performance-Based Fault-Tolerant Control for Trajectory Tracking of the ACV With Uncertainty

“…However, we use the advantage of fixed time convergence to compensate for this deficiency. After T 2 , the proof of the PPC method we designed is basically the same as the proof of the existing works [4][5][6][7][8].…”

“…The first concern focuses on the transient performance which excellent for the safe navigation of ACV. For achieving higher quality transient performance and high precision tracking errors, the prescribed performance control (PPC) [4][5][6] has been the focus of recent research by experts. This is attributed to its ability to ensure that the target error is restricted to a predefined set [10].…”

“…In contrast to [7][8], this paper and [3] [9] [21] focuses more on the limiting problem of the initial values, and the problem of fragility after the onset of failure will be discussed further in future work. The finite-time [7] and fixed-time [6] convergence problem of transient performance is also essential for tracking systems. A fixed time convergence global PPC method is used in [3] [21], but requires more special functions to implement.The method in this paper has more flexible structure.…”