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Prescribed-Time Distributed Optimization for Formation Control of NMSVs with Asymmetric State Constraints and Actuator Efficiency Loss
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梁
葛
DOI：10.1016/j.jfranklin.2026.108728.png)
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Abstract
En 中文
• This paper addresses the time-varying optimization (TVO) formation maneuver control problem of networked marine surface vehicles (NMSVs) over directed graphs for the first time, going beyond prior works limited to undirected or weight-balanced graphs. • A hierarchical control framework is proposed, enabling effective handling of nonlinear dynamics, coupling uncertainties, and state constraints by decomposing the problem into tractable sub-problems for stability analysis. • A novel prescribed-time fault-tolerant control (PT-FTC) algorithm is developed, which ensures convergence within a user-defined time via a single adjustable parameter, outperforming existing fixed-time schemes
Keywords:
Time-varying optimization
Formation control
Networked marine surface vehicles
Prescribed-time fault-tolerant control
Asymmetric state constraints
Journal
J
IF:
4.2
Papers:
812
Citations:
0
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Cited Papers