Dynamic Event-Triggered Active Disturbance Rejection Formation Control for Constrained Underactuated AUVs

作     者：Zhiguang Feng Sibo Yao 

作者机构：IEEE the College of Intelligent Systems Science and Engineering Harbin Engineering University 

出 版 物：《IEEE/CAA Journal of Automatica Sinica》 (自动化学报(英文版))

年 卷 期：2025年第12卷第2期

页      面：460-462页

核心收录：

学科分类：0711[理学-系统科学] 07[理学] 08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 071102[理学-系统分析与集成] 081103[工学-系统工程] 

基　　金：supported by the National Natural Science Foundation of China (62073094) the Fundamental Research Funds for the Central Universities (3072024GH0404) 

摘      要：Dear Editor,This letter addresses the formation control problem for constrained underactuated autonomous underwater vehicles (AUVs). The feasibility condition of the virtual control law is eliminated by introducing a nonlinear state dependence function (NSDF) that transforms the state of each AUV in the formation.