干扰条件下无人艇编队有限时间同步控制

A finite time synchronization control framework for unmanned surface vehicles is proposed to address the issue of different convergence times of various states in finite time control. The finite time synchronization formation control method designed under this framework can cleverly achieve that all degrees of freedom errors of unmanned surface vehicles converge to an equilibrium point at the same time. Firstly, to address the issue of incompatibility between existing disturbance observers and time synchronization stabilization frameworks, a finite time synchronization disturbance observer is designed. Furthermore, utilizing the ratio persistence property, a finite time synchronous formation controller is designed, and the stability of the proposed control algorithm is demonstrated. Finally, simulation research was conducted on three unmanned surface vehicles, and the results verified the effectiveness and superiority of the proposed control algorithm. The control method proposed in this article has practical significance for the fields of navigation, aerospace, and industry that require time-synchronous control.