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<p>This work proposes a norm-type dynamic observer-based dynamic event-triggered fixed-time synchronized sliding mode control (DO-DETFTSC) strategy to address the formation control problem of heterogeneous multiple autonomous underwater vehicles (multi-AUVs) system subject to uncertain disturbances and model uncertainties. First, a novel fixed-time norm-type sign function-based dynamic observer is designed to accurately estimate the uncertain dynamics. Second, an adaptive dynamic event-triggered mechanism incorporating an auxiliary variable is introduced to alleviate computational load while extending inter-event intervals and avoiding the occurrence of Zeno phenomenon. Third, a fixed-time synchronized formation controller is developed, which utilizes distributed formation errors, leveraging a fixed-time synchronized sliding surface and the proposed dynamic event-triggered strategy to guarantee practical fixed-time synchronized convergence of formation errors and to circumvent singularity issues. The fixed-time synchronized stability of the closed-loop multi-AUVs system is rigorously established using Lyapunov theory. Simulation results demonstrate the efficacy of the presented DO-DETFTSC method.</p>

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Event-triggered fixed-time synchronized formation control for multi-AUVs with norm-type nonlinear dynamic observer

  • 期刊论文

  • 发表日期：

    2026年4月7日

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  • Xiaoxiao Xu,
  • Weiming Li,
  • Houjun Shi,
  • Wei Cai,
  • Xingyu Zhou,
  • Aibing Qiu

摘要

This work proposes a norm-type dynamic observer-based dynamic event-triggered fixed-time synchronized sliding mode control (DO-DETFTSC) strategy to address the formation control problem of heterogeneous multiple autonomous underwater vehicles (multi-AUVs) system subject to uncertain disturbances and model uncertainties. First, a novel fixed-time norm-type sign function-based dynamic observer is designed to accurately estimate the uncertain dynamics. Second, an adaptive dynamic event-triggered mechanism incorporating an auxiliary variable is introduced to alleviate computational load while extending inter-event intervals and avoiding the occurrence of Zeno phenomenon. Third, a fixed-time synchronized formation controller is developed, which utilizes distributed formation errors, leveraging a fixed-time synchronized sliding surface and the proposed dynamic event-triggered strategy to guarantee practical fixed-time synchronized convergence of formation errors and to circumvent singularity issues. The fixed-time synchronized stability of the closed-loop multi-AUVs system is rigorously established using Lyapunov theory. Simulation results demonstrate the efficacy of the presented DO-DETFTSC method.