Low complexity fault-tolerant formation control for autonomous underwater vehicles with global prescribed-time performance

Abstract

This paper investigates a novel control scheme for multiple autonomous underwater vehicle (AUV) systems in the presence of measurement errors, unknown external disturbances, and actuator faults. The proposed strategy achieves robust formation control while ensuring global prescribed-time performance. By employing passive strategies and event-triggering mechanism, the communication burden between controller and actuator and computational complexity are significantly reduced. All closed-loop signals are proven to be bounded, and Zeno behavior is avoided. The effectiveness of this control scheme is validated through a simulation.