Precision Fixed-Time Formation Control for Multi-AUV Systems with Full State Constraints
Yuanfeng Chen, Haoyuan Wang, Xiaodong Wang · Mathematics · 2025
The trajectory tracking the control of autonomous underwater vehicle (AUV) systems faces considerable challenges due to strong inter-axis coupling and complex time-varying external disturbances. This paper proposes a novel fixed-time control scheme incorporating a switching threshold-based event-driven strategy to address critical issues in multi-AUV formation control, including full-state constraints, unmeasurable states, model uncertainties, limited communication resources, and unknown time-varying disturbances. A rapid and stable dimensional augmented state observer (RSDASO) was first developed to achieve fixed-time convergence in estimating aggregated disturbances and unmeasurable states. Subsequently, a logarithmic barrier Lyapunov function was constructed to derive a fixed-time control law that guarantees bounded system errors within a predefined interval while strictly confining all states to specified constraints. The introduction of a switching threshold event-triggering mechanism (ETM) significantly reduced communication resource consumption. The simulation results demonstrate the effectiveness of the proposed method in improving control accuracy while substantially lowering communication overhead.