Distributed finite-time fault-tolerant error constraint containment algorithm for multiple ocean bottom flying nodes with tan-type barrier Lyapunov function

摘要

The ocean bottom flying node (OBFN) is a special autonomous underwater vehicle (AUV) for seabed resource exploration. In this article, unmodeled uncertainties, thruster faults, and ocean disturbances are considered. The trajectory errors are constrained. Based on the directed topology, the distributed finite-time fault-tolerant error constraint containment control problem for multiple OBFN systems is solved, while only a part of follower OBFNs can measure the state of leaders. By using the backstepping method and a tan-type barrier lyapunov function (BLF), a novel form of virtual controller is constructed. Neural network is employed to approximate and compensate the general disturbances. And the upper bound of the estimation error is dealt with by proposing an adaptive law. Besides, the trajectory errors can be constrained to a small neighborhood of zero in finite time. In other words, follower OBFNs can reach the convex hull consisted of leaders in finite time. The effectiveness of the designed algorithm is shown by presenting numerical experiment.