Robust Finite-Time Control of a Multi-AUV Formation Based on Prescribed Performance

This paper focuses on the finite-time formation-control problem of a multi-AUV formation under unknown perturbations with prescribed performance. First, nonlinear AUV model is transformed into second-order integral using feedback linearization. Suitable performance functions are selected to constrain control errors AUVs within preset range and convert tracking unconstrained an error-conversion function facilitate controller design. Finite-time sliding-mode disturbance observers designed for disturbances in ocean so that they can accurately estimate finite time. Based error observer, fast terminal converge Finally, simulation experimental results show method proposed this better cancel time improve robustness control.