Fault-Tolerant Formation of Interlinked Marine Surface Vehicles Based on Fixed-Time Distributed Optimization

2026-01-13

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梁

梁昌铎 (Chang‐Duo Liang)

Kai‐Lun Huang

Xisheng Zhan

Tao Han

Qian Chen

葛

葛明峰 (Ming‐Feng Ge)

DOI：10.1109/JIOT.2025.3631953

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This article presents a novel nonsingular fixed-time distributed optimal formation control strategy for interlinked marine surface vehicles (IMSVs) subjected to actuator faults and failures. A cyber–physical framework is constructed to handle such problems. First, a fixed-time distributed optimization estimator in the cyber layer is designed to derive the optimal solution based on the local objective functions through consensus-based algorithms. Second, a fixed-time robust tracking controller is constructed in the physical layer with the estimated optimal solution being the reference signal. The overall controller combines fixed-time stability theory and distributed optimization techniques, enabling each vehicle to achieve the optimal formation positioning based on local interactions and global formation requirements. Furthermore, a fault-tolerant mechanism is embedded to maintain performance under partial actuator degradation. The Lyapunov analysis rigorously proves the fixed-time stability of the closed-loop system, and simulation results validate the effectiveness and robustness of the proposed method.

Keywords:

Actuator faults and failures

cyber–physical framework

distributed optimization

fixed-time stability

interlinked marine surface vehicles

Fault-Tolerant Formation of Interlinked Marine Surface Vehicles Based on Fixed-Time Distributed Optimization

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