Precision Fixed-Time Formation Control for Multi-AUV Systems with Full State Constraints

Yuanfeng Chen, Haoyuan Wang and Xiaodong Wang ()
Additional contact information
Yuanfeng Chen: School of Intelligent Manufacturing, Guangzhou City Polytechnic, Guangzhou 511300, China
Haoyuan Wang: School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, China
Xiaodong Wang: School of Intelligent Manufacturing, Guangzhou City Polytechnic, Guangzhou 511300, China

Mathematics, 2025, vol. 13, issue 9, 1-23

Abstract: The trajectory tracking the control of autonomous underwater vehicle (AUV) systems faces considerable challenges due to strong inter-axis coupling and complex time-varying external disturbances. This paper proposes a novel fixed-time control scheme incorporating a switching threshold-based event-driven strategy to address critical issues in multi-AUV formation control, including full-state constraints, unmeasurable states, model uncertainties, limited communication resources, and unknown time-varying disturbances. A rapid and stable dimensional augmented state observer (RSDASO) was first developed to achieve fixed-time convergence in estimating aggregated disturbances and unmeasurable states. Subsequently, a logarithmic barrier Lyapunov function was constructed to derive a fixed-time control law that guarantees bounded system errors within a predefined interval while strictly confining all states to specified constraints. The introduction of a switching threshold event-triggering mechanism (ETM) significantly reduced communication resource consumption. The simulation results demonstrate the effectiveness of the proposed method in improving control accuracy while substantially lowering communication overhead.

Keywords: autonomous underwater vehicle; fixed-time control; event-triggering mechanism; full-state constraints; formation control (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2025
References: View complete reference list from CitEc
Citations:

Downloads: (external link)
https://www.mdpi.com/2227-7390/13/9/1451/pdf (application/pdf)
https://www.mdpi.com/2227-7390/13/9/1451/ (text/html)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:gam:jmathe:v:13:y:2025:i:9:p:1451-:d:1644878

Access Statistics for this article

Mathematics is currently edited by Ms. Emma He

More articles in Mathematics from MDPI
Bibliographic data for series maintained by MDPI Indexing Manager ().