Abstract This paper investigates the predefined-time formation tracking control problem of networked marine surface vehicles (NMSVs) with external disturbances. A novel predefined-time sliding mode surface is proposed to guarantee that the states on it converge to the origin in a predefined time. Based on the presented sliding mode surface, two kinds of hierarchical control algorithms are developed to achieve the formation tracking of the virtual leader, whose acceleration in the earth-fixed coordinates can be zero or bounded. The sufficient conditions on the control parameters for guaranteeing the predefined-time stability of the closed-loop system are also derived. Finally, numerical simulations on Cyber-Ships II are performed to verify the effectiveness of the presented algorithms.

中文翻译：

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网络化海洋水面车辆预定义时间编队跟踪控制

摘要 本文研究了网络化海洋水面车辆（NMSV）在外部干扰下的预定义时间编队跟踪控制问题。提出了一种新颖的预定义时间滑模表面，以保证其上的状态在预定义时间内收敛到原点。基于所提出的滑模面，开发了两种层次控制算法来实现虚拟领航者的编队跟踪，其在地球固定坐标系下的加速度可以为零或有界。推导出保证闭环系统预定时间稳定性的控制参数的充分条件。最后，对 Cyber​​-Ships II 进行数值模拟以验证所提出算法的有效性。