Non-singular sliding mode containment control of ship fixed time under dynamic constraints
In order to solve the problem of robust containment control of unmanned ships under dynamic constraints,based on the fixed-time stability theory,combined with the preset performance function and sliding mode control technology,a fixed-time non-singular sliding mode robust containment control law was proposed.Firstly,a fixed-time expansion observer was designed to estimate the unmeasurable veloci-ty and the aggregate invariant.Then,the constraints on the inclusion tracking bias were realized by de-signing the performance function,and the constraints on the tolerance control bias were carried out by converting the conversion function into an unconstrained problem.Furthermore,the non-singular sliding form surface was constructed,and the fixed-time approximation law was designed to realize the conver-gence of the following ship into the convex hull formed by the virtual leader ship in a fixed time.Finally,the fixed-time stability theory was used to prove that the systematic error converges at the equilibrium point in a fixed time.The simulation results show that the proposed control law can make the multi-un-manned ship form with high precision and stability in a fixed time,and achieve the convergence of the control deviation under the set preset performance.
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