Fixed-time Sliding Mode Formation Control of AUVs Based on a Disturbance Observer

In this paper,we investigate formation tracking control of autonomous underwater vehicles (AUVs) with model parameter uncertainties and external disturbances.The external disturbances due to the wind,waves,and ocean currents are combined with the model parameter uncertainties as a compound disturbance.Then a disturbance observer (DO) is introduced to estimate the compound disturbance,which can be achieved within a finite time independent of the initial estimation error.Based on a DO,a novel fixed-time sliding control scheme is developed,by which the follower vehicle can track the leader vehicle with all the states globally stabilized within a given settling time.The effectiveness and performance of the method are demonstrated by numerical simulations.