Nonsingular Terminal Sliding Mode-Based Distributed Cooperative Event-Triggered Control for Multiple Surface Vessels Under Actuator Faults With Input Saturation

Abstract

In this paper, a fixed-time distributed cooperative control under actuator faults with input saturation scheme is designed for multiple surface vessels (MSVs). Firstly, a fixed-time disturbance observer (FxDO) is introduced to observe unknown environmental disturbances and actuator faults (AF). Secondly, to deal with the actuator saturation, an improved nonlinear antiwindup compensator is introduced to compensate for the saturation effect of the actuator. Thirdly, a fixed-time fault-tolerant event-triggered control law with the actuator saturation is applied to cooperative control based on a fixed-time nonsingular terminal sliding mode manifold (FxNTSMM), and their cooperative errors can converge within fixed time. At the same time, the upper bound of convergence time is independent of the initial state. Finally, the stability analysis of the cooperative control system is given to prove that the system can realize the practical fixed time stability, and Zeno phenomenon is avoided by theoretical proof. Simulation results are given to demonstrate the effectiveness of the proposed control scheme.INDEX TERMS Multiple surface vessels, disturbance observer, fixed-time sliding mode control, eventtriggered controller, input saturation, actuator faults.

Fixed-Time Output Feedback Distributed Cooperative Event-Triggered Control for Multiple Surface Vessels With Prescribed Performance Constraints

“…To show the estimated performance for FxESO, we compare it with finite-time extended state observer (FTESO) and extended state observer (ESO). The controller adopts (42) designed in this paper. The FTESO and the ESO are written as…”

“…Furthermore, for existing studies, the eventtriggered strategy has not been applied to the fixed-time nonsingular terminal sliding mode control scheme. Motivated by the aforementioned analyses and inspired by [28], [31], [32] and [42] this paper designs a fixed-time distributed cooperative event-triggered control for multiple surface vessels with prescribed performance constraint.…”