This work focuses on the fixed-time event-triggered formation control problem for multi-AUV systems with external uncertainties, which can significantly reduce energy consumption and the frequency of the controller updates. At the same time, the convergence speed of the system is improved. To tackle with the problem of explosion of differentiation terms in backstepping method, a command filter is introduced to represent the derivative of virtual variables. Moreover, the distributed control strategy is considered and the lumped uncertainties are tackled with the super-twisting sliding mode method. It is proved that under the proposed event-triggered control strategies the Zeno behavior is avoided. Further, fixed-time formation control method can be finished within a fixed settling time with arbitrary initial states of the multi-AUV. Finally, simulation is presented to show the effectiveness and validity of the fixed-time event-triggered formation protocols for the multi-AUV systems.

中文翻译：

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通过事件触发控制固定时间形成有扰动的 AUV

这项工作侧重于具有外部不确定性的多 AUV 系统的固定时间事件触发编队控制问题，可以显着降低能耗和控制器更新频率。同时，提高了系统的收敛速度。为了解决反推法中微分项爆炸的问题，引入命令过滤器来表示虚拟变量的导数。此外，还考虑了分布式控制策略，并用超扭曲滑模方法解决了集中的不确定性。事实证明，在所提出的事件触发控制策略下，可以避免 Zeno 行为。此外，固定时间编队控制方法可以在固定的稳定时间内完成多AUV的任意初始状态。最后，