Predefined-time affine formation tracking control of unmanned surface vehicles with input saturation via adaptive fuzzy observers.

Authors

Xiujuan Zhao, Konghao Xie, Yong Wu, Fan Yang, Yuanshi Zheng

Published in

ISA transactions. Jun 24, 2026. Epub Jun 24, 2026.

Abstract

This paper addresses the predefined-time affine formation tracking control problem for unmanned surface vehicles, which are subject to state partial observability, input saturation, and unknown disturbances. Adaptive local state observers are designed to estimate the states of followers. Fuzzy logic systems are employed to model unknown dynamics, ensuring reliable predictions in marine environments. An auxiliary system, which integrates estimated state errors and input errors, is proposed to mitigate performance degradation induced by input saturation. A novel predefined-time sliding mode vector is constructed to guarantee that the tracking errors converge to a small neighborhood of the origin within a predefined-time. Based on the sliding mode vector, a control algorithm is developed to achieve affine formation tracking relative to virtual leaders. Comprehensive simulation results demonstrate the effectiveness and superiority of the proposed control method.

PMID:
42379969
Bibliographic data and abstract were imported from PubMed on 01 Jul 2026.

Read full publication at:
Please sign in to see all details.

Stats

1-terrible, 9-excellent. How would you rate this publication? Sign in in to submit your rating.

Post a comment

You need to be signed in to post comments. You can sign in here.

Comments

There are no comments yet.