Hierarchical Adaptive Fixed-Time Formation Control for Multiple Underactuated Autonomous Underwater Vehicles Under Uncertain Disturbances and Input Saturation

Hierarchical Adaptive Fixed-Time Formation Control for Multiple Underactuated Autonomous Underwater Vehicles Under Uncertain Disturbances and Input Saturation

Recent advances in multiple autonomous underwater vehicles (AUVs) have highlighted formation control as a critical challenge for underwater collaborative operations. To address the inherent coupling between formation coordination and individual control in conventional approaches, this paper proposes...

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Bibliographic Details
Main Authors: Jiacheng Chang, Lanyong Zhang, Yifan Tan, Xue Fu, Hongjun Yu
Format: Article
Language:English
Published: MDPI AG 2025-06-01
Series:Journal of Marine Science and Engineering
Subjects:
underactuated AUVs
formation control
hierarchical framework design
fixed-time control
input saturation
Online Access:https://www.mdpi.com/2077-1312/13/6/1146
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