Observer-based adaptive dynamic event-triggered time-synchronized formation control for heterogeneous multi-AUVs with global prescribed performance constraints

Abstract

To address the formation control of multiple autonomous underwater vehicles (multi-AUVs) under communication resource constraints, this paper proposes a dynamic event-triggered fixed-time synchronized prescribed performance control (DET-FTSPPC) strategy. The proposed framework synergistically integrates an adaptive dynamic event-triggered mechanism (DETM) with a singularity-free PPC and fixed-time synchronization theory. Unlike conventional methods, the developed PPC scheme eliminates the restrictive requirement for precise initial-error information, while the synchronization protocol ensures high-fidelity coordination among agents. Rigorous Lyapunov-based analysis guarantees the stability of the closed-loop system under discrete-time data exchange. Extensive simulation results demonstrate that the DET-FTSPPC strategy significantly reduces communication overhead while maintaining robust fixed-time formation consistency, offering a highly efficient and resilient solution for complex maritime missions.