Fixed-time Fault-tolerant Formation Control for Unmanned Surface Vehicles with Actuator Faults
作者单位：School of Naval ArchitectureOcean and Engine Power EngineeringWuhan University of Technology Key Laboratory of High Performance Ship Technology (Wuhan University of Technology)Ministry of Education Hainan Institute of Wuhan University of Technology
会议名称：《第43届中国控制会议》
会议日期：1000年
学科分类：11[军事学] 08[工学] 0826[工学-兵器科学与技术] 0835[工学-软件工程] 0802[工学-机械工程] 1109[军事学-军事装备学] 080201[工学-机械制造及其自动化]
基 金：supported by the Hainan Provincial Joint Project of Sanya Yazhou Bay Science and Technology City (Grant No.2021CXLH0016) the National Science Foundation of China under Grant No.52201373 the Natural Science Foundation of Hubei Province of China (Grant No.2022CFB794)
关 键 词：Unmanned surface vehicle Formation control Fixed-time disturbance observer Actuator faults
摘 要：A fixed-time fault-tolerant formation control method is proposed to achieve rapid formation convergence for multiple unmanned surface vehicles(USVs) in the presence of actuator faults and unknown environmental ***,a fixed-time disturbance observer(FxDO) is designed to estimate and compensate for unknown environmental disturbances and actuator ***,a fixed-time convergent estimator is proposed to observe the time-varying sideslip ***,a fixed-time sliding mode controller(FxSMC) is presented to ensure the fixed-time convergence for the error of the *** effectiveness of the proposed methods is validated through comparative simulation results of three USVs.