Neutral Networks-Based Adaptive Fixed-Time Consensus Tracking Control for Uncertain Multiple AUVs
Lin Hui Zhao, Yingmin Jia, Jinpeng Yu · Journal of Robotics Networking and Artificial Life · 2017
This paper is concerned with the fixed-time consensus tracking problem for multi-AUV (autonomous underwater vehicle) systems with uncertain parameters and external disturbances.Firstly, a fixed-time terminal sliding mode is proposed, which can avoid the singularity problem.Then, a continuous distributed consensus tracking control law is designed based on Neutral Network approximation technique, which can guarantee the consensus tracking errors converge to the desired regions in fixed time.A simulation example is given to show the effectiveness of proposed methods.