Fixed-time anti-interference control of AUV with state constraints
WANG Jian-hui
WANG Hao-yuan
LIU Zhi
CHEN Zi-tao
CHEN Kai-rui
Abstract：Aiming at the trajectory tracking problem of autonomous underwater vehicle(AUV)with state constraints,uncertain model parameters,limited communication resources,and unknown external time-varying disturbances,an event-triggered control method based on a fixed-time disturbance observer is proposed.Firstly,based on the fixed-time stability theory,the disturbance observer is designed by using the properties of hyperbolic tangent function to estimate the lumped disturbances of the system,so that the estimation error converges in fixed time.Secondly,based on the designed disturbance observer,an AUV fixed-time anti-interference trajectory tracking control method is proposed,so that the tracking error of the system converges in fixed time.Meanwhile,in order to reduce the occupation of communication resources by the system,a relative threshold event triggering mechanism is introduced in the design of the control method.Finally,the effectiveness of the method is verified by simulation experiments.
Keywords：autonomous underwater vehiclefixed-time controldisturbance observerevent-triggered mechanismstate constraints
Publication Date：2025-10-30
Online Publishing Date：2025-11-13(First online date of this platform, not the publication date of the document)
Pages：10( 2056-2065 )