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.


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    Title :

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


    Additional title:

    SHIPS AND OFFSHORE STRUCTURES
    Y. WANG ET AL.


    Contributors:

    Published in:

    Publication date :

    2025-04-03


    Size :

    15 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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