Dual-Loop Prescribed-Time 3D Formation Control of Underactuated Multi-AUVs

Zeqing WANG; Haixiang XU; Wenzhao YU; Zhe DU; Hongmei WANG

doi:10.12382/bgxb.2025.0046

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Dual-Loop Prescribed-Time 3D Formation Control of Underactuated Multi-AUVs

更新时间：2025-09-25

- Dual-Loop Prescribed-Time 3D Formation Control of Underactuated Multi-AUVs
- Acta Armamentarii Vol. 46, Issue 8, Pages: 250046(2025)
- 作者机构：
  
  1. 武汉理工大学高性能船舶技术教育部重点实验室, 湖北武汉 430063
  2. 武汉理工大学船海与能源动力工程学院, 湖北武汉 430063
- 作者简介：
- 基金信息：
- DOI：10.12382/bgxb.2025.0046
  CLC：
- Received：13 January 2025，
  
  Published Online：28 August 2025，
  
  Published：31 August 2025
- 稿件说明：
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Zeqing WANG, Haixiang XU, Wenzhao YU, et al. Dual-Loop Prescribed-Time 3D Formation Control of Underactuated Multi-AUVs[J]. Acta Armamentarii, 2025, 46(8): 250046.
DOI：

Zeqing WANG, Haixiang XU, Wenzhao YU, et al. Dual-Loop Prescribed-Time 3D Formation Control of Underactuated Multi-AUVs[J]. Acta Armamentarii, 2025, 46(8): 250046. DOI： 10.12382/bgxb.2025.0046.

摘要

多自主水下航行器(Autonomous Underwater Vehicles

AUV)协同作业在水下作战领域展现出广阔的应用前景。针对具有模型不确定性和未知环境扰动的欠驱动多AUV三维编队控制问题

提出一种双环指定时间编队控制方法。为解决AUV欠驱动问题

建立AUV运动数学模型并引入欠驱动坐标变换。为降低模型不确定性和未知环境扰动对系统的不利影响

设计固定时间扩张状态观测器对其进行估计与补偿。为实现多AUV编队的指定时间收敛

设计由外环控制律与内环控制律组成的双环指定时间控制器。其中

外环控制律调节AUV的期望速度以实现编队目标

而内环控制律则负责跟踪AUV的期望速度。理论分析表明

新方法能够确保系统在指定时间内收敛;仿真结果显示

与有限时间和固定时间控制相比

新方法能够实现系统的指定时间收敛

进一步提高系统的收敛速度

为协同性要求较高任务下的多AUV编队控制提供新思路。

Abstract

The cooperative operation of multiple autonomous underwater vehicles (AUVs) shows broad application prospects in underwater combat scenarios.A dual-loop prescribed-time formation control method is proposed for the control of underactuated multi-AUV three-dimensional formation under model uncertainties and unknown environmental disturbances.A mathematical model of AUV motion is established and an underactuated coordinate transformation is introduced to solve the underactuation problem of AUV.To mitigate the adverse effects of model uncertainty and unknown environmental disturbances on the system

a fixed-time extended state observer is designed to estimate and compensate for model uncertainty and unknown environmental disturbances.In order to achieve the prescribed-time convergence in multi-AUV formation

a dual-loop prescribed-time controller

consisting of an outer-loop control law and an inner-loop control law

is designed.The outer-loop control law is used to adjust the desired velocity of AUV to achieve the formation objective

while the inner-loop control law is responsible for tracking the desired velocity.Theoretical analysis demonstrates that the proposed method enable the system to converge within a prescribed time.+++Simulated results show that

compared to the finite-time and fixed-time control methods

the proposed method can achieve prescribed-time convergence and further enhances the system's convergence speed

providing a new approach for multi-AUV formation control in tasks with high coordination requirements.

关键词

Keywords

references

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