文献类型：期刊文献

英文题名：Distributed fixed-time formation control for UAV-USV multiagent systems based on the FEWNN with prescribed performance

作者：Liu, Haitao[1,2,3];Huang, Huiting[1,2,3];Tian, Xuehong[1,2,3];Zhang, Jing[1,3]

机构：[1]Guangdong Ocean Univ, Sch Mech Engn, Zhanjiang 524088, Peoples R China;[2]Guangdong Ocean Univ, Shenzhen Inst, Shenzhen 518120, Peoples R China;[3]Guangdong Engn Technol Res Ctr Ocean Equipment & M, Zhanjiang 524088, Peoples R China

年份：2025

卷号：328

外文期刊名：OCEAN ENGINEERING

收录：SCI-EXPANDED(收录号：WOS:001456973000001)、、EI(收录号：20251318110252)、Scopus(收录号：2-s2.0-105000764502)、WOS

基金：This work was supported by the Guangdong Basic and Applied Basic Research Foundation [grant number 2024A1515011345] , the Key Project of the Department of Education of Guangdong Province [grant number 2023ZDZX1005] , the Innovation Team Project for Ordinary Universities in Guangdong Province [grant number 2024KCXTD041] , the Shenzhen Science and Technology Program [grant number JCYJ20220530162014033] , and the Science and Technology Planning Project of Zhanjiang City [grant numbers 2021A05023] .

语种：英文

外文关键词：UAV-USV heterogeneous multiagent systems; Prescribed performance control; Fuzzy Elman wavelet neural networks; Fixed-time adaptive state observer; Fixed-time control

外文摘要：This paper investigates the problem of formation trajectory tracking control for heterogeneous multiagent systems with error time-varying constraints, prescribed performance and external disturbances. The multiagent system consists of multiple unmanned aerial vehicles (UAVs) and multiple unmanned surface vessels (USVs). First, a distributed fixed-time adaptive state observer is designed for each agent to obtain the virtual leader's state accurately, which is important for accomplishing a specific formation. Second, a funnel function is introduced as the prescribed performance function to constrain the tracking error, and a formation tracking control protocol with error time-varying constraints is proposed to ensure that all followers quickly achieve formation tracking and the specific formation. Third, a fixed-time fuzzy Elman wavelet neural network (FEWNN) is proposed to approximate the external disturbances for UAV-USV systems to improve robustness. Through the Lyapunov function theorem, the proposed distributed fixed-time formation control approach can ensure that the closed-loop system is stable within a fixed time. Finally, the simulation results demonstrate the feasibility and flexibility of the proposed approach.