Nonsingular Terminal Sliding Mode-Based Distributed Cooperative Event-Triggered Control for Multiple Surface Vessels Under Actuator Faults With Input Saturation

In this paper, a fixed-time distributed cooperative control under actuator faults with input saturation scheme is designed for multiple surface vessels (MSVs). Firstly, disturbance observer (FxDO) introduced to observe unknown environmental disturbances and (AF). Secondly, deal the saturation, an improved nonlinear antiwindup compensator compensate effect of actuator. Thirdly, fault-tolerant event-triggered law applied based on nonsingular terminal sliding mode manifold (FxNTSMM), their errors can converge within fixed time. At same time, upper bound convergence time independent initial state. Finally, stability analysis system given prove that realize practical stability, Zeno phenomenon avoided by theoretical proof. Simulation results are demonstrate effectiveness proposed scheme.