Authors
Lin Zhao, Yingmin Jia, Jinpeng Yu
Corresponding Author
Lin Zhao
Available Online 1 December 2017.
DOI
https://doi.org/10.2991/jrnal.2017.4.3.1How to use a DOI?
Keywords
Multi-AUV systems; Terminal sliding mode; fixed-time stability; Neutral Networks.
Abstract
This paper is concerned with the fixed-time consensus tracking problem for multi-AUV (autonomous underwater vehicle) systems with uncertain parameters and external disturbances. Firstly, a fixed-time terminal sliding mode is proposed, which can avoid the singularity problem. Then, a continuous distributed consensus tracking control law is designed based on Neutral Network approximation technique, which can guarantee the consensus tracking errors converge to the desired regions in fixed time. A simulation example is given to show the effectiveness of proposed methods.

Copyright
© 2013, the Authors. Published by ALife Robotics Corp. Ltd.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).