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<p>Autonomous surface vehicles (ASVs), operating in dynamic and complex marine environments, often need to reconfigure their formations to meet diverse mission requirements. This paper introduces a distributed fixed-time prescribed performance control strategy that addresses the challenges of time-varying formation control for multiple ASV system. First, a new augmented fixed-time observer is proposed to estimate fault and disturbance while filtering out measurement noise. A sliding-mode control scheme based on a distributed estimator is then developed. Specifically, a distributed estimator is designed to estimate the virtual leader’s state, and a fixed-time second-order integral sliding surface based on bi-limit homogeneity is introduced. Finally, the simulation is conducted on six networked Cyber-Ships to ensure that the proposed method is valid.</p>

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Fixed-time control for distributed time-varying formation of autonomous surface vehicles with prescribed performance

  • 期刊论文

  • 发表日期：

    2025年10月1日

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  • Shandan Wang,
  • Xiao Wang,
  • Lei Xue,
  • Jian Liu,
  • Changyin Sun

摘要

Autonomous surface vehicles (ASVs), operating in dynamic and complex marine environments, often need to reconfigure their formations to meet diverse mission requirements. This paper introduces a distributed fixed-time prescribed performance control strategy that addresses the challenges of time-varying formation control for multiple ASV system. First, a new augmented fixed-time observer is proposed to estimate fault and disturbance while filtering out measurement noise. A sliding-mode control scheme based on a distributed estimator is then developed. Specifically, a distributed estimator is designed to estimate the virtual leader’s state, and a fixed-time second-order integral sliding surface based on bi-limit homogeneity is introduced. Finally, the simulation is conducted on six networked Cyber-Ships to ensure that the proposed method is valid.