无人机/无人艇异构协同固定时间预设性能演化控制

A fixed-time prescribed performance evolution control method is proposed for the formation containment control problem of unmanned aerial/surface vehicle heterogeneous cooperative system with actuator faults. The evolution path for the control error convergence is designed to guarantee the continuity and accuracy of relative position signals based on visual measurement, and the error is limited to the neighborhood of the evolution path by the fixed-time prescribed performance function. The constrained tracking problem is transformed into an unconstrained stabilization problem by using the transformation function. The dynamic surface technology is used to control the transformed error dynamics, and the disturbance observer and adaptive technique are utilized to estimate the disturbance and the unknown actuator faults. It is proved that all signals of the error dynamics closed-loop system are uniformly ultimately bounded by Lyapunov function, and it is further proved that the formation error is fixed-time stable. Numerical simulations verify the effectiveness of the proposed method.