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<p>In various scenarios such as marine surveying, underwater exploration, and military surveillance, multiple autonomous underwater vehicles (AUVs) often need to work in coordination to carry out complex operational tasks. In the presence of communication delays, input saturation, and predefined performance requirements, this study innovatively addresses the three-dimensional (3-D) time-varying formation (TVF) control problem of underactuated AUVs by developing an enhanced predictor and a new saturation-tolerant funnel control (STFC) scheme. In contrast to conventional Artstein predictors for dealing with communication delays, the enhanced predictor employs a cascaded structure that incorporates additional high-order correction terms through Taylor expansion, achieving improved prediction accuracy while intentionally avoiding high-gain designs. The STFC guarantees the evolution of the formation error within a performance funnel with practical prescribed-time shape. And to satisfy the input saturation constraints, the STFC features a dynamic component which expands the funnel boundaries when input saturation occurs. Based on the above, a novel distributed prescribed performance robust 3-D TVF control law is proposed, which ensures that the AUVs form and maintain a desired TVF, while driving the formation error to a specified error band within a prescribed time at a lower control cost. Comprehensive simulation studies demonstrate the superior performance of the proposed TVF control law.</p>

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Enhanced predictor-based saturation-tolerant funnel control for 3-D underactuated AUV formations with resilient practical prescribed-time behaviors under communication delays

  • 期刊论文

  • 发表日期：

    2026年7月6日

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  • Yu Wang,
  • Jian Xu

摘要

In various scenarios such as marine surveying, underwater exploration, and military surveillance, multiple autonomous underwater vehicles (AUVs) often need to work in coordination to carry out complex operational tasks. In the presence of communication delays, input saturation, and predefined performance requirements, this study innovatively addresses the three-dimensional (3-D) time-varying formation (TVF) control problem of underactuated AUVs by developing an enhanced predictor and a new saturation-tolerant funnel control (STFC) scheme. In contrast to conventional Artstein predictors for dealing with communication delays, the enhanced predictor employs a cascaded structure that incorporates additional high-order correction terms through Taylor expansion, achieving improved prediction accuracy while intentionally avoiding high-gain designs. The STFC guarantees the evolution of the formation error within a performance funnel with practical prescribed-time shape. And to satisfy the input saturation constraints, the STFC features a dynamic component which expands the funnel boundaries when input saturation occurs. Based on the above, a novel distributed prescribed performance robust 3-D TVF control law is proposed, which ensures that the AUVs form and maintain a desired TVF, while driving the formation error to a specified error band within a prescribed time at a lower control cost. Comprehensive simulation studies demonstrate the superior performance of the proposed TVF control law.