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.
Fixed-time event-triggered sliding mode time-varying formation control for multiple surface vessels with fast convergence
SHIPS AND OFFSHORE STRUCTURES
Y. WANG ET AL.
Ships and Offshore Structures ; 20 , 4 ; 472-486
2025-04-03
15 pages
Article (Journal)
Electronic Resource
English
Finite-Time Event-Triggered Attitude Consensus Control for Multiple Unmanned Surface Vessels
British Library Conference Proceedings | 2020
|Dynamics Event-Triggered-Based Time-Varying Bearing Formation Control for UAVs
DOAJ | 2024
|