Predefined‐Time Hierarchical Scheme for Time‐Varying Formation Tracking of Hybrid Networked Marine Systems
Gao‐Fei Zhao, Tao Han, Chang‐Duo Liang, Bo Han Xiao, Huaicheng Yan · International Journal of Robust and Nonlinear Control · 2025
ABSTRACT This paper addresses the time‐varying formation tracking (TVFT) problem for surface‐underwater hybrid networked marine systems (HNMSs) amid parametric uncertainties, external disturbances, as well as unmodeled hydrodynamics. The system includes multiple autonomous surface vehicles (ASVs) and autonomous underwater vehicles (AUVs). To tackle this complex issue, a predefined‐time hierarchical control (PTHC) scheme is developed. A predefined‐time distributed estimator algorithm is designed for each follower to estimate the states of leaders using neighboring relative information. By applying an innovative predefined‐time non‐singular sliding mode surface governed by time‐regulator functions, the system state is driven to the origin within a specified timeframe, ensuring zero‐error predefined‐time stability. This method guarantees that the settling time is independent of initial conditions and can be explicitly set as a control parameter. Based on Lyapunov stability theory, we derive sufficient conditions to ensure the predefined‐time stability of the closed‐loop system. Finally, simulations are provided to demonstrate the feasibility and effectiveness of the proposed algorithms.