Fixed-time event-triggered sliding mode time-varying formation control for multiple surface vessels with fast convergence

ABSTRACT

This paper proposes a new fixed-time sliding mode time-varying formation control strategy for multiple surface vessels (MSVs) to improve control performance and ensure navigation safety. First, a fixed-time extended state observer (FxESO) is designed to provide estimations of velocities and lumped disturbances. Then, the event-triggered fixed-time distributed time-varying formation control law is designed based on prescribed performance function (PPF) and fixed-time nonsingular terminal sliding mode (FxNTSM) manifold. Finally, system stability is analyzed based on Lyapunov theory. The salient features of the proposed scheme are as follows. First, a novel hyperbolic cosecant PPF is incorporated into the control scheme to enhance control performance. Then, the proposed scheme is combined with relative threshold event-triggered strategy to reduce unnecessary updates of actuators. Finally, a uniform exact differentiator is introduced to avoid the formation control law including the acceleration of adjacent vessel. Comparative results are given to demonstrate the superiority of the proposed scheme.

KEYWORDS:

• Multiple surface vessels
• prescribed performance
• fixed-time extended state observer
• fixed-time sliding mode control
• relative threshold event-triggered controller

Disclosure statement

No potential conflict of interest was reported by the author(s).

Data availability statement

The participants of this study did not give written consent for their data to be shared publicly, so due to the sensitive nature of the research supporting data is not available.

Additional information

Funding

This work is supported by the National Natural Science Foundation of China [grant number 51879049], and the Natural Science Foundation of Heilongjiang Province, China [grant number LH2019E039].