Abstract
The problem of prescribed-time containment control of unmanned underwater vehicles (UUVs) with faults and uncertainties is considered. Different from both regular finite-time control and fixed-time control, the proposed prescribed-time control strategy is built upon a novel coordinate transformation function and the block decomposition technique, resulting in the followers being able to move into the convex hull spanned by the leaders in prespecifiable convergence time. Moreover, intermediate variables and the control input terms are also shown to remain uniformly bounded at the prescribed-time. To reduce the magnitude of the bounds, a novel fixed-time observer for the fault is proposed. Two numerical examples are provided to verify the effectiveness of the proposed prescribed-time control strategy.
Funder
National Natural Science Foundation of China
Natural Science Foundation of Liaoning Province
Fundamental Research Funds for the Central Universities
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry
Cited by
9 articles.
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