Dynamic event-triggered formation control for AUVs with fixed-time integral sliding mode disturbance observer

Aiming at the question of unknown current disturbance, control input saturation, and limited controller transmission network resources of multi-AUVs formation system, dynamic event-triggered mechanism (DETM) formation control method based on adaptive fixed time integral sliding mode disturbance observer (AFISMDO) is proposed, which not only can ensure formation control converge in fixed time, but also further reduce the consumption of the controller network transmission. First of all, adaptive fixed time integral sliding mode disturbance observer is put forward to estimate compound disturbance which is composed of ocean current disturbance, nonlinear item of control input saturation accurately. Based on the AFISMDO, with the combination of nonlinear filter and the back-stepping method, which is used to eliminate repeated derivation calculation explosion problem; Secondly, in order to save the energy consumption of network transmission resources, the dynamic event trigger mechanism conjunction with virtual trajectory strategy is introduced into the multi-AUVs formation control. The fixed-time formation controller is designed to realize the fixed-time stability of formation system, and the system convergence time is independent of the initial state. Finally, the effectiveness and rationality of the proposed algorithm are proved by the multi-AUVs formation simulation experiment.